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Fuzzy Adaptation Algorithms’ Control for Robot Manipulators with Uncertainty Modelling Errors
Joint Authors
Fan, Yongqing
Xing, Keyi
Jiang, Xiangkui
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-8, 8 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-05-10
Country of Publication
Egypt
No. of Pages
8
Main Subjects
Abstract EN
A novel fuzzy control scheme with adaptation algorithms is developed for robot manipulators’ system.
At the beginning, one adjustable parameter is introduced in the fuzzy logic system, the robot manipulators system with uncertain nonlinear terms as the master device and a reference model dynamic system as the slave robot system.
To overcome the limitations such as online learning computation burden and logic structure in conventional fuzzy logic systems, a parameter should be used in fuzzy logic system, which composes fuzzy logic system with updated parameter laws, and can be formed for a new fashioned adaptation algorithms controller.
The error closed-loop dynamical system can be stabilized based on Lyapunov analysis, the number of online learning computation burdens can be reduced greatly, and the different kinds of fuzzy logic systems with fuzzy rules or without any fuzzy rules are also suited.
Finally, effectiveness of the proposed approach has been shown in simulation example.
American Psychological Association (APA)
Fan, Yongqing& Xing, Keyi& Jiang, Xiangkui. 2018. Fuzzy Adaptation Algorithms’ Control for Robot Manipulators with Uncertainty Modelling Errors. Complexity،Vol. 2018, no. 2018, pp.1-8.
https://search.emarefa.net/detail/BIM-1134698
Modern Language Association (MLA)
Fan, Yongqing…[et al.]. Fuzzy Adaptation Algorithms’ Control for Robot Manipulators with Uncertainty Modelling Errors. Complexity No. 2018 (2018), pp.1-8.
https://search.emarefa.net/detail/BIM-1134698
American Medical Association (AMA)
Fan, Yongqing& Xing, Keyi& Jiang, Xiangkui. Fuzzy Adaptation Algorithms’ Control for Robot Manipulators with Uncertainty Modelling Errors. Complexity. 2018. Vol. 2018, no. 2018, pp.1-8.
https://search.emarefa.net/detail/BIM-1134698
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1134698