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Fuzzy Adaptive Switching Control for an Uncertain Robot Manipulators with Time-Varying Output Constraint
Joint Authors
Wang, Wenqing
Fan, Yongqing
Liu, Ying
Wang, Minjuan
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-07-22
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
An adaptive control strategy based on a fuzzy logic system by introducing a nonzero time-varying parameter is studied for an n-link manipulator system with the condition of a complex environment.
At the beginning, a universal approximator with a one time-varying parameter is proposed based on the analysis of the fuzzy logic system, which is utilized to equalize uncertainties in robot manipulators with time-varying output constraints.
The novel design method is used to reduce greatly the online learning computation burden compared with traditional fuzzy adaptive control.
The output and the position of robotic manipulators are constrained with time-varying, a good tracking performance can be guaranteed with the condition of unknown dynamics of robot manipulators, and the violation of constraints can be conquered by the analysis based on the barrier Lyapunov function.
A switching adaptive control is proposed to extend the semiglobal stability to global stability.
Effectiveness of the approach is demonstrated by simulation results.
American Psychological Association (APA)
Fan, Yongqing& Wang, Wenqing& Liu, Ying& Wang, Minjuan. 2018. Fuzzy Adaptive Switching Control for an Uncertain Robot Manipulators with Time-Varying Output Constraint. Complexity،Vol. 2018, no. 2018, pp.1-10.
https://search.emarefa.net/detail/BIM-1136102
Modern Language Association (MLA)
Fan, Yongqing…[et al.]. Fuzzy Adaptive Switching Control for an Uncertain Robot Manipulators with Time-Varying Output Constraint. Complexity No. 2018 (2018), pp.1-10.
https://search.emarefa.net/detail/BIM-1136102
American Medical Association (AMA)
Fan, Yongqing& Wang, Wenqing& Liu, Ying& Wang, Minjuan. Fuzzy Adaptive Switching Control for an Uncertain Robot Manipulators with Time-Varying Output Constraint. Complexity. 2018. Vol. 2018, no. 2018, pp.1-10.
https://search.emarefa.net/detail/BIM-1136102
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1136102