Control of uncertain flexible joint manipulator using adaptive Takagi-Sugeno fuzzy model based controller

Author

Park, Chang-Woo ; Hyun, Chang-Ho ; Park, Min-Sick ; Lee, Chang-Hun ; Kim, Jaehun ; Park, Mignon

Author_Institution

Dept. of Electr. & Comput. Eng., Yonsei Univ., Seoul, South Korea

Volume

1

fYear

2001

fDate

2001

Firstpage

985

Abstract

In this paper, in order to control an uncertain flexible joint manipulator, adaptive fuzzy control (AFC) scheme via parallel distributed compensation is developed for the multi-input/multi-output plant model represented by the Takagi-Sugeno model. The alternative AFC scheme is proposed to provide asymptotic tracking of a reference signal for the systems with uncertain or slowly time-varying parameters. The developed control law and adaptive law guarantee the boundedness of all signals in the closed-loop system. In addition, the plant state tracks the state of the reference model asymptotically with time for any bounded reference input signal. The suggested design technique is applied to tracking control of a flexible-link robot manipulator.

Keywords

MIMO systems; adaptive control; asymptotic stability; closed loop systems; continuous time systems; flexible manipulators; fuzzy control; manipulator dynamics; nonlinear control systems; tracking; uncertain systems; Takagi-Sugeno model; adaptive control; asymptotic stability; closed-loop system; continuous time systems; flexible joint manipulator; fuzzy control; nonlinear systems; parallel distributed compensation; tracking; uncertain systems; Adaptive control; Automatic frequency control; Fuzzy control; Fuzzy logic; Fuzzy systems; Manipulator dynamics; Mathematical model; Programmable control; Robots; Takagi-Sugeno model;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-6576-3

Type

conf

DOI

10.1109/ROBOT.2001.932678

Filename

932678