Adaptive control of robot manipulators using fuzzy compensator. II

Author

Yoo, Byung Kook ; Ham, Woon Chul

Author_Institution

Dept. of Biomed. Eng., Hanlyo Univ., Kwnagyang, South Korea

Volume

1

fYear

1999

fDate

1999

Firstpage

52

Abstract

For pt.I see ibid. p.35-40 (1999). An adaptive controller for the robot manipulator which has the parametric uncertainties is designed. In order to compensate these uncertainties, we use the FLS (fuzzy logic system) that has the capability to approximate any nonlinear function with the compact input space. In the proposed control scheme, we need not derive the linear formulation of robot dynamics. To reduce the number of fuzzy rules of FLS, we consider the decomposition of the uncertainty function. The proposed controller is robust not only to the structured uncertainties such as payload parameters, but also to the unstructured one such as friction model and disturbance. The validity of the control scheme is shown through the computer simulations of two-link planar robot manipulator

Keywords

adaptive control; compensation; control system synthesis; function approximation; fuzzy control; manipulators; nonlinear control systems; robust control; uncertain systems; adaptive control; disturbance; friction model; fuzzy compensator; nonlinear function; parametric uncertainties; payload parameters; robot manipulators; two-link planar robot manipulator; uncertainty function decomposition; Adaptive control; Fuzzy control; Fuzzy logic; Manipulator dynamics; Nonlinear dynamical systems; Orbital robotics; Programmable control; Robot control; Robust control; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on

Conference_Location

Kyongju

Print_ISBN

0-7803-5184-3

Type

conf

DOI

10.1109/IROS.1999.812980

Filename

812980