Title :
Direct adaptive fuzzy control for a two-link space robot
Author :
Ulrich, Steve ; Sasiadek, Jerzy Z.
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Carleton Univ., Ottawa, ON, Canada
Abstract :
An adaptive fuzzy logic control scheme is developed for tracking a square trajectory by the endpoint of a two-link rigid joint space robot. The control strategy is based on a direct adaptive control scheme in which the controller gains are adapted in real-time according to fuzzy logic systems such that the tracking errors between a reference model and the actual robot system outputs are brought to zero.
Keywords :
adaptive control; aerospace robotics; fuzzy control; manipulators; position control; adaptive fuzzy logic control; direct adaptive fuzzy control; square trajectory tracking; two-link rigid joint space robot; two-link space robot; Adaptation models; Fuzzy control; Fuzzy logic; Jacobian matrices; Joints; Robots; Trajectory;
Conference_Titel :
Methods and Models in Automation and Robotics (MMAR), 2011 16th International Conference on
Conference_Location :
Miedzyzdroje
Print_ISBN :
978-1-4577-0912-8
DOI :
10.1109/MMAR.2011.6031360
