A New Dual-mode Adaptive Fuzzy Control of Telerobot
In this paper, an dynamics model is established for telerobot. Based on the dynamics model, the authors design a new dual-mode adaptive fuzzy control system and use Lyapunov stability theory to prove the stability of the system and the boundness of tracking error. In order to improve robustness, the dual-mode adaptive fuzzy controller is modified and equipped with self-adjusting and new switching. The simulation results show that this dual-mode adaptive fuzzy control system has excellent control effect. Namely the controller can effectively overcome the unknown parameters of the model and environmental disturbances. It also shows that the proposed method has strong adaptive ability, fast dynamic response, strong robustness and applicability.
dual-mode adaptive fuzzy controller dynamics model telerobot
Jing Zhang Heng Wang Shiyin Jiang
Robotics Laboratory, School of Information Engineering Southwest University of Science and Technology Mianyang , China, 621010
国际会议
武汉
英文
106-110
2011-08-20（万方平台首次上网日期，不代表论文的发表时间）