Title :
A nonlinear robust control estimating an unknown upper bound by a fuzzy reasoning
Author :
Izumi, Kiyotaka ; Watanabe, Keigo ; Otsubo, Takaaki
Author_Institution :
Dept. of Mech. Eng., Saga Univ., Japan
Abstract :
A simplified adaptive nonlinear robust controller (SANROC) has been studied in the authors´ research. However, the estimate of an upper bound for uncertainties is increased by using the adaptive mechanism in this method. The objective in this paper is that a fuzzy reasoning is establish to be equivalent to the adaptive mechanism of SANROC without matching conditions. The proposed method is applied to a pantograph type manipulator. The effectiveness of the present method is illustrated by some simulations
Keywords :
adaptive control; fuzzy control; fuzzy systems; nonlinear control systems; robust control; fuzzy reasoning; pantograph type manipulator; simplified adaptive nonlinear robust controller; uncertainty; unknown upper bound estimation; Adaptive control; Control systems; Fuzzy reasoning; Lyapunov method; Programmable control; Riccati equations; Robust control; Uncertainty; Upper bound; Variable structure systems;
Conference_Titel :
Systems, Man, and Cybernetics, 1996., IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
0-7803-3280-6
DOI :
10.1109/ICSMC.1996.569784
