Adaptive control of robot manipulator using fuzzy compensator.

Adaptive control of robot manipulator using fuzzy compensator.

This paper presents two kinds of adaptive control schemes for robot manipulator which has the parametric uncertainties. In order to compensate these uncertainties, we use the FLS (fuzzy logic system) that has the capability to approximate any nonlinear function over the compact input space. In the p...

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Bibliografische gegevens
Gepubliceerd in:IEEE Transactions on fuzzy systems 8, 2 (2000).
Hoofdauteur: Byung Kook Yoo
Formaat: Artikel
Taal:English
Onderwerpen:
FLS.
Disturbance.
Friction model.
Fuzzy compensator.
Fuzzy logic system.
Nonlinear function approximation.
Parametric uncertainties.
Payload parameter.
Robust adaptive control laws.
Structured uncertainty.
Two-link planar robot manipulator.
Uncertainty function decomposition.