Decentralized Adaptive Fuzzy Control for Reconfigurable Manipulators

被引：0

作者：

Zhu, Mingchao ^{[1
]}

Li, Yuanchun ^{[1
]}

机构：

[1] Jilin Univ, Dept Control Sci & Engn, Changchun 130023, Jilin Province, Peoples R China

来源：

2008 IEEE CONFERENCE ON ROBOTICS, AUTOMATION, AND MECHATRONICS, VOLS 1 AND 2 | 2008年

关键词：

reconfigurable manipulators; decentralized control; fuzzy control; adaptive control; H-infinity optimal control;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A decentralized adaptive fuzzy control scheme for reconfigurable manipulators is proposed to satisfy the concept of modular software. The dynamics of reconfigurable manipulators is represented as a set of interconnected subsystems. The fuzzy logic systems are used to model the unknown dynamics of subsystem and the interconnection term. Based on Lyapunov stability theorem, the stability of the closed-loop systems can be verified. Moreover, the proposed control scheme guarantees that variables involved are bounded and the H-infinity tracking performance is achieved. The simulation results are presented to show the effectiveness of the proposed decentralized adaptive fuzzy control scheme.

引用

页码：354 / 359

页数：6

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