Direct adaptive fuzzy control for robots in cartesian space

被引：0
|
作者：
Wang, Hong-Rui [1 ]
Chen, Zeng-Wei [1 ]
Wei, Li-Xin [1 ]
Tian, Xue-Jing [1 ]
Liu, Xiu-Ling [1 ]
机构：
[1] Yanshan Univ, Inst Elect Engn, Qinhuangdao 066004, Peoples R China
来源：
PROCEEDINGS OF 2007 INTERNATIONAL CONFERENCE ON MACHINE LEARNING AND CYBERNETICS, VOLS 1-7 | 2007年
关键词：
direct fuzzy adaptive; H-infinity compensation; Cartesian space;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, a kind of direct fuzzy adaptive controller with H-infinity compensation is applied to robot manipulators with uncertainty in Cartesian space. The direct fuzzy adaptive controller is derived from fuzzy logic system as the master one, and the additional H-infinity compensation controller is employed to 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.
引用
收藏
页码：482 / 486
页数：5
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