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Decentralized adaptive fuzzy control applied to a robot manipulator. (English) Zbl 1303.93107

Jamshidi, Mo (ed.) et al., Advance trends in soft computing. Proceedings of 3rd world conference on soft computing, WCSC, San Antonio, TX, USA, December 16–18, 2013. Cham: Springer (ISBN 978-3-319-03673-1/hbk; 978-3-319-03674-8/ebook). Studies in Fuzziness and Soft Computing 312, 123-135 (2014).
Summary: In this work it is presented the design of a decentralized adaptive fuzzy control. In this scheme it is suppose a system with unknown parameters and on-line fuzzy identifier, which uses an adaptive law to adjust the unknown parameters in order to build a model of an assumed unknown nonlinear system. The applicability of the proposed approach is illustrated via simulations by trajectory tracking control of a two degrees-of-freedom robot manipulator.
For the entire collection see [Zbl 1282.68068].

MSC:

93C42 Fuzzy control/observation systems
93C40 Adaptive control/observation systems
93C85 Automated systems (robots, etc.) in control theory
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