| FUZZY MODEL-FOLLOWING ADAPTIVE CONTROL DESIGN FOR ROBOT MANIPULATORS |
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| 引用本文： | Zhao Dongbiao, Zhu Jianying (Nanjing University of Aeronautics and Astronautics). FUZZY MODEL-FOLLOWING ADAPTIVE CONTROL DESIGN FOR ROBOT MANIPULATORS[J]. 机械工程学报(英文版), 1995, 0(2) |
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| 作者姓名： | Zhao Dongbiao Zhu Jianying (Nanjing University of Aeronautics and Astronautics) |
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| 摘 要： | ＦＵＺＺＹＭＯＤＥＬ－ＦＯＬＬＯＷＩＮＧＡＤＡＰＴＩＶＥＣＯＮＴＲＯＬＤＥＳＩＧＷＦＯＲＲＯＢＯＴＭＡＮＩＰＵＬＡＴＯＲＳＦＵＺＺＹＭＯＤＥＬ－ＦＯＬＬＯＷＩＮＧＡＤＡＰＴＩＶＥＣＯＮＴＲＯＬＤＥＳＩＧＷＦＯＲＲＯＢＯＴＭＡＮＩＰＵＬＡＴＯＲＳＺｈａ...
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FUZZY MODEL-FOLLOWING ADAPTIVE CONTROL DESIGW FOR ROBOT MANIPULATORS |
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| Zhao Dongbiao, Zhu Jianying. FUZZY MODEL-FOLLOWING ADAPTIVE CONTROL DESIGW FOR ROBOT MANIPULATORS[J]. Chinese Journal of Mechanical Engineering, 1995, 0(2) |
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| Authors: | Zhao Dongbiao Zhu Jianying |
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| Affiliation: | Nanjing University of Aeronautics and Astronautics |
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| Abstract: | The increasing demand on robotic system performance leads to the use of advanced con- trol strategies. This paper proposes a method of nonlinear feedback control introducing fuzzy infer- ence into model-following adaptive control for the nonlinear robot manipulator systems. The fuzzy inference is introduced to treat the nonlinearities of the control systems. Furthermore, the stability of the system is discussed by the fuzzy stability theory based on the Lyapunov's direct method. In the closed loop, the robotic system asymptotically converge to the reference trajectory with a pre- scribed transient response. |
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| Keywords: | : Robot manipulator Fuzzy set Model-following adaptive control |
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