Adaptive fuzzy controllers of a robot manipulator

被引：24

作者：

Neo, SS

Er, MJ

机构：

[1] School of Electrical and Electronic Engineering, Nanyang Technological University, 2263, Nanyang Avenue

来源：

INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE | 1996年 / 27卷 / 06期

关键词：

D O I：

10.1080/00207729608929246

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, two adaptive fuzzy robot control algorithms, which employ tracking errors of the joint motion to drive the parameter adaptation, are derived. The predominant concern of the adaptation laws is to reduce the tracking errors. In particular, they require no feedback of joint accelerations. These adaptive controllers do not require the exact robot dynamics but only the boundary of the dynamics. Theoretical results and simulation studies on a two-link robot manipulator show that these adaptive fuzzy robot controllers ave robust and stable.

引用

页码：519 / 532

页数：14

共 11 条

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