A fuzzy adaptive variable structure controller with applications to robot manipulators

Citation
Yc. Hsu et al., A fuzzy adaptive variable structure controller with applications to robot manipulators, IEEE SYST B, 31(3), 2001, pp. 331-340
Citations number
21
Language
INGLESE
art.tipo
Article
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS
ISSN journal
1083-4419 → ACNP
Volume
31
Issue
3
Year of publication
2001
Pages
331 - 340
Database
ISI
SICI code
1083-4419(200106)31:3<331:AFAVSC>2.0.ZU;2-7
Abstract
A new adaptive fuzzy control algorithm is developed in this paper, which ha s a regular fuzzy controller and a supervisory control term. This control a lgorithm does not require the system model, but has stability assurance for the closed-loop controlled system. The design Is simple, in the sense that both the membership functions and the rule base are simple, yet generic. I t can be applied to a large class of robotic and other mechanical systems.