Adaptive model reference control based on Takagi-Sugeno fuzzy models with applications to flexible joint manipulators

被引：5
|
作者：
Lee, J
Lim, JH
Park, CW
Kim, S
机构：
[1] Korea Atom Energy Res Inst, Adv Robot Lab, Taejon 305353, South Korea
[2] Korea Elect Technol Inst, Precis Machinery Res Ctr, Puchon 420140, Kyunggi Do, South Korea
[3] Hanyang Univ, Sch Elect Engn & Comp Sci, Ansan, Kyunggi Do, South Korea
来源：
KSME INTERNATIONAL JOURNAL | 2004年 / 18卷 / 03期
关键词：
adaptive control; fuzzy control; flexible joint manipulator; model reference control;
D O I：
10.1007/BF02996099
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
The control scheme using fuzzy modeling and Parallel Distributed Compensation (PDC) concept is proposed to provide asymptotic tracking of a reference signal for the flexible joint manipulators with uncertain parameters. From Lyapunov stability analysis and simulation results, the developed control law and adaptive law guarantee the boundedness of all signals in the closed-loop multi-input/multi-output system. In addition, the plant state tracks the state of the reference model asymptotically with time for any bounded reference input signal.
引用
收藏
页码：337 / 346
页数：10
相关论文
共 50 条
  • [1] Adaptive model reference control based on Takagi-Sugeno fuzzy models with applications to flexible joint manipulators
    Jongbae Lee
    Joon-hong Lim
    Chang-Woo Park
    Seungho Kim
    KSME International Journal, 2004, 18 : 337 - 346
  • [2] Fuzzy Reference Model for Adaptive Indirect Takagi-Sugeno Model Reference Control
    Tahmasebi, Sanaz
    Khanesar, Mojtaba Ahmadieh
    Teshnehlab, Mohammad
    2016 IEEE 13TH INTERNATIONAL CONFERENCE ON NETWORKING, SENSING, AND CONTROL (ICNSC), 2016,
  • [3] Fuzzy Reference Model for Adaptive Indirect Takagi-Sugeno Model Reference Control
    Tahmasebi, Sanaz
    Khanesar, Mojtaba Ahmadieh
    Teshnehlab, Mohammad
    2016 IEEE 13TH INTERNATIONAL CONFERENCE ON NETWORKING, SENSING, AND CONTROL (ICNSC), 2016,
  • [4] Control of uncertain flexible joint manipulator using adaptive Takagi-Sugeno fuzzy model based controller
    Park, CW
    Hyun, CH
    Park, MS
    Lee, CH
    Kim, J
    Park, M
    2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 2001, : 985 - 990
  • [5] An indirect model reference adaptive fuzzy control for SISO Takagi-Sugeno model
    Cho, YW
    Park, CW
    Park, M
    FUZZY SETS AND SYSTEMS, 2002, 131 (02) : 197 - 215
  • [6] Nonlinear model reference adaptive control using Takagi-Sugeno fuzzy systems
    Golea, Noureddine
    Golea, Amar
    Kadjoudj, Mohamed
    JOURNAL OF INTELLIGENT & FUZZY SYSTEMS, 2006, 17 (01) : 47 - 57
  • [7] Adaptive control of uncertain chaotic systems based on Takagi-Sugeno fuzzy models
    Park, CW
    Lee, CH
    Kim, JH
    Park, M
    IEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES, 2001, E84A (09) : 2101 - 2117
  • [8] Takagi-Sugeno Fuzzy Model-Based Control of Spacecraft with Flexible Appendage
    Mohammad A. Ayoubi
    Chokri Sendi
    The Journal of the Astronautical Sciences, 2014, 61 : 40 - 59
  • [9] Takagi-Sugeno Fuzzy Model-Based Control of Spacecraft with Flexible Appendage
    Ayoubi, Mohammad A.
    Sendi, Chokri
    JOURNAL OF THE ASTRONAUTICAL SCIENCES, 2014, 61 (01): : 40 - 59
  • [10] Control laws for Takagi-Sugeno fuzzy models
    Guerra, TM
    Vermeiren, L
    FUZZY SETS AND SYSTEMS, 2001, 120 (01) : 95 - 108
12345