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An adaptive fuzzy logic controller for robot-manipulator
| Content Provider | SAGE Publishing |
|---|---|
| Author | Loc, Ho Dac Ha, Tran Thu Cuong, Ngo Cao |
| Copyright Year | 2004 |
| Abstract | In this paper, an adaptive fuzzy controller is designed for the robot-manipulator. The synthesized controller ensures that 1) the close-loop system is globally stable and 2) the tracking error converges to zero asymptotically and a cost function is minimized. The fuzzy controller is synthesized from a collection of IF-THEN rules. The parameters of the membership functions characterizing the linguistic terms change according to some adaptive law for the purpose of controlling a plant to track a reference trajectory. The proposed control scheme is demonstrated in a typical nonlinear plant two link manipulator. The computer simulation of control is done by the language MATLAB. The results of simulation show that the adaptive controller well operates and provides good qualities of the control system. The presented results are analyzed. |
| Related Links | https://journals.sagepub.com/doi/pdf/10.5772/5628?download=true |
| ISSN | 17298806 |
| Issue Number | 2 |
| Volume Number | 1 |
| Journal | International Journal of Advanced Robotic Systems (ARX) |
| e-ISSN | 17298814 |
| DOI | 10.5772/5628 |
| Language | English |
| Publisher | Sage Publications UK |
| Publisher Date | 2004-06-01 |
| Publisher Place | London |
| Access Restriction | Open |
| Rights Holder | © 2004 SAGE Publications Ltd |
| Rights License | Llicensed Under Creative Commons Licenses |
| Subject Keyword | Adaptive fuzzy logic controller robot-manipulator optimal control |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Computer Science Applications Software |
