Adaptive tuning of the fuzzy controller for robots
Journal
Fuzzy Sets and Systems
Journal Volume
110
Journal Issue
3
Pages
351-363
Date Issued
2000
Date
2000
Author(s)
Lin, Chuan-Kai
Abstract
An adaptive tuning algorithm of the fuzzy controller is developed for a class of serial-link robot arms. The algorithm can on-line tune parameters of premise and consequence parts of fuzzy rules of the fuzzy basis function (FBF) controller. The main part of the fuzzy controller is a fuzzy basis function network to approximate unknown rigid serial-link robot dynamics. Under some mild assumptions, a stability analysis guarantees that both tracking errors and parameter estimate errors are bounded. Moreover, a robust technique is adopted to deal with uncertainties including approximation errors and external disturbances. Simulations of the proposed controller on the PUMA-560 robot arm demonstrate the effectiveness.
Other Subjects
Adaptive control systems; Algorithms; Approximation theory; Computer simulation; Error analysis; Neural networks; Parameter estimation; Robotic arms; System stability; Fuzzy basis function (FBF) networks; Fuzzy control
Type
journal article
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