Observer-based adaptive control of robot manipulators

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dc.contributor.authorGoléa, Noureddine
dc.contributor.authorGoléa, Amar
dc.contributor.authorBarra, Kamel
dc.date.accessioned2022-04-27T04:59:53Z
dc.date.available2022-04-27T04:59:53Z
dc.date.issued2008
dc.description.abstractThis paper presents a fuzzy adaptive control suitable for motion control of multi-link robot manipulators with structured and unstructured uncertainties. When joint velocities are available, full state fuzzy adaptive feedback control is designed to ensure the stability of the closed loop dynamic. If the joint velocities are not measurable, an observer is introduced and an adaptive output feedback control is designed based on the estimated velocities. In the proposed control scheme, we need not derive the linear formulation of robot dynamic equation and tune the parameters. To reduce the number of fuzzy rules of the fuzzy controller, we consider the properties of robot dynamics and the decomposition of the uncertainties terms. The proposed controller is robust against uncertainties and external disturbance. Further, it is shown that required stability conditions, in both cases, can be formulated as LMI problems and solved using dedicated software. The validity of the control scheme is demonstrated by computer simulations on a two-link robot manipulatorar
dc.identifier.urihttp://hdl.handle.net/123456789/13007
dc.language.isoenar
dc.publisherELSEVIERar
dc.subjectRobot manipulatorsar
dc.subjectFuzzy systemsar
dc.subjectAdaptive controlar
dc.subjectStabilityar
dc.titleObserver-based adaptive control of robot manipulatorsar
dc.title.alternativeFuzzy systems approachar
dc.typeArticlear
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