Name
Title | ||
|---|---|---|
Tracking control of a robot manipulator using a direct model reference adaptive fuzzy control |
Abstract | ||
|---|---|---|
A direct model reference adaptive fuzzy control (MRAFC) scheme is developed for the plant model whose structure is represented by the Takagi-Sugeno model. The MRAFC scheme is proposed to provide asymptotic tracking of a reference signal for the systems with uncertain or slowly time-varying parameters. The developed control law and adaptive law guarantee the boundedness of all signals in the closed-loop system. In addition, the plant state tracks the state of the reference model asymptotically with time for any bounded reference input signal. The suggested design technique is applied to tracking control of a two-link robot manipulator |
Year | DOI | Venue |
|---|---|---|
1999 | 10.1109/IROS.1999.812988 | IROS |
Keywords | Field | DocType |
uncertain systems,bounded reference input signal,asymptotic stability,takagi-sugeno model,asymptotic tracking,direct model reference adaptive fuzzy control,continuous time systems,nonlinear control systems,manipulators,fuzzy control,position control,closed loop systems,two-link robot manipulator,tracking control,model reference adaptive control systems,control systems,nonlinear systems,robot control,adaptive control,reference model,fuzzy systems | Robot control,Nonlinear system,Reference model,Control theory,Computer science,Control engineering,Exponential stability,Control system,Adaptive control,Fuzzy control system,Bounded function | Conference |
Volume | ISBN | Citations |
1 | 0-7803-5184-3 | 3 |
PageRank | References | Authors |
0.43 | 5 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Young-Wan Cho | 1 | 81 | 7.40 |
| Eungsun Kim | 2 | 108 | 7.16 |
| Kichul Lee | 3 | 21 | 1.73 |
| Mignon Park | 4 | 759 | 70.43 |