Fuzzy indirect adaptive controller for manipulator trajectory tracking applications
Abstract：In order to apply the existing fuzzy control algorithm to real time control of multi-DOF robot manipulator, the original indirect adaptive fuzzy control algorithm was extended from the SISO case to the MIMO case, a strictmathematical description for each step was gave and its convergence was proved. The constructed controller was further shown to have the property of uniform ultimate boundedness ( u. u. b. ) and adopted for the control application of an n -link robot manipulator trajectory tracking. Simulated results with a 2-link revolute joint arm with remotely driven link were presented to demonstrate its feasibility.
Keywords：fuzzy controladaptive controlintelligent controluniform ultimate boundedness
Publication Date：2004-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：10( 748-756,764 )