DIRECT ADAPTIVE FUZZY CONTROL FOR ROBOTS IN CARTESIAN SPACE

摘要：

In this paper, a kind of direct fuzzy adaptive controller with H∞ compensation is applied to robot manipulators withuncertainty in Cartesian space.The direct fuzzy adaptive controller is derived from fuzzy logic system as the master one, and the additional H∞ compensation controller is employedto attenuate both the effects of fuzzy approximation error and external disturbance.In addition, the number of fuzzy rules and the adjustable parameters of the fuzzy logic system are both less than that of indirect fuzzy adaptive control.The Lyapunov stability analysis and simulation results have proven the effectiveness of the approach.

关键词： Direct fuzzy adaptive H∞ compensation Cartesian space

作者: HONG-RUI WANG ZENG-WEI CHEN LI-XIN WEI XUE-JING TIAN XIU-LING LIU

作者单位: Institute of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China

会议类型: 国际会议

会议名称: 2007 International Conference on Machine Learning and Cybernetics(IEEE第六届机器学习与控制论国际会议)

会议地点: 香港

会议语种:英文

页码: 482-486

在线出版日期: 2007-08-19（万方平台首次上网日期，不代表论文的发表时间）