Globally Guaranteed Robustness Adaptive Fuzzy Control with Application on Highly Uncertain Robot Manipulators
Summary :
This study proposes a novel adaptive fuzzy control methodology to remove disadvantages of traditional fuzzy approximation based control. Meanwhile, the highly uncertain robot manipulator is taken as an application with either guaranteed robust tracking performances or asymptotic stability in a global sense. First, the design concept, namely, feedforward fuzzy approximation based control, is introduced for a simple uncertain system. Here the desired commands are utilized as the inputs of the Takagi-Sugeno (T-S) fuzzy system to closely compensate the unknown feedforward term required during steady state. Different to traditional works, the assumption on bounded fuzzy approximation error is not needed, while this scheme allows easier implementation architecture. Next, the concept is extended to controlling manipulators and achieves global robust tracking performances. Note that a linear matrix inequality (LMI) technique is applied and provides an easier gain design. Finally, numerical simulations are carried out on a two-link robot to illustrate the expected performances.
- Publication
- IEICE TRANSACTIONS on Fundamentals Vol.E88-A No.4 pp.1007-1014
- Publication Date
- 2005/04/01
- Publicized
- Online ISSN
- DOI
- 10.1093/ietfec/e88-a.4.1007
- Type of Manuscript
- PAPER
- Category
- Systems and Control
Authors
Keyword
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Chian-Song CHIU, "Globally Guaranteed Robustness Adaptive Fuzzy Control with Application on Highly Uncertain Robot Manipulators" in IEICE TRANSACTIONS on Fundamentals,
vol. E88-A, no. 4, pp. 1007-1014, April 2005, doi: 10.1093/ietfec/e88-a.4.1007.
Abstract: This study proposes a novel adaptive fuzzy control methodology to remove disadvantages of traditional fuzzy approximation based control. Meanwhile, the highly uncertain robot manipulator is taken as an application with either guaranteed robust tracking performances or asymptotic stability in a global sense. First, the design concept, namely, feedforward fuzzy approximation based control, is introduced for a simple uncertain system. Here the desired commands are utilized as the inputs of the Takagi-Sugeno (T-S) fuzzy system to closely compensate the unknown feedforward term required during steady state. Different to traditional works, the assumption on bounded fuzzy approximation error is not needed, while this scheme allows easier implementation architecture. Next, the concept is extended to controlling manipulators and achieves global robust tracking performances. Note that a linear matrix inequality (LMI) technique is applied and provides an easier gain design. Finally, numerical simulations are carried out on a two-link robot to illustrate the expected performances.
URL: https://global.ieice.org/en_transactions/fundamentals/10.1093/ietfec/e88-a.4.1007/_p
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@ARTICLE{e88-a_4_1007,
author={Chian-Song CHIU, },
journal={IEICE TRANSACTIONS on Fundamentals},
title={Globally Guaranteed Robustness Adaptive Fuzzy Control with Application on Highly Uncertain Robot Manipulators},
year={2005},
volume={E88-A},
number={4},
pages={1007-1014},
abstract={This study proposes a novel adaptive fuzzy control methodology to remove disadvantages of traditional fuzzy approximation based control. Meanwhile, the highly uncertain robot manipulator is taken as an application with either guaranteed robust tracking performances or asymptotic stability in a global sense. First, the design concept, namely, feedforward fuzzy approximation based control, is introduced for a simple uncertain system. Here the desired commands are utilized as the inputs of the Takagi-Sugeno (T-S) fuzzy system to closely compensate the unknown feedforward term required during steady state. Different to traditional works, the assumption on bounded fuzzy approximation error is not needed, while this scheme allows easier implementation architecture. Next, the concept is extended to controlling manipulators and achieves global robust tracking performances. Note that a linear matrix inequality (LMI) technique is applied and provides an easier gain design. Finally, numerical simulations are carried out on a two-link robot to illustrate the expected performances.},
keywords={},
doi={10.1093/ietfec/e88-a.4.1007},
ISSN={},
month={April},}
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TY - JOUR
TI - Globally Guaranteed Robustness Adaptive Fuzzy Control with Application on Highly Uncertain Robot Manipulators
T2 - IEICE TRANSACTIONS on Fundamentals
SP - 1007
EP - 1014
AU - Chian-Song CHIU
PY - 2005
DO - 10.1093/ietfec/e88-a.4.1007
JO - IEICE TRANSACTIONS on Fundamentals
SN -
VL - E88-A
IS - 4
JA - IEICE TRANSACTIONS on Fundamentals
Y1 - April 2005
AB - This study proposes a novel adaptive fuzzy control methodology to remove disadvantages of traditional fuzzy approximation based control. Meanwhile, the highly uncertain robot manipulator is taken as an application with either guaranteed robust tracking performances or asymptotic stability in a global sense. First, the design concept, namely, feedforward fuzzy approximation based control, is introduced for a simple uncertain system. Here the desired commands are utilized as the inputs of the Takagi-Sugeno (T-S) fuzzy system to closely compensate the unknown feedforward term required during steady state. Different to traditional works, the assumption on bounded fuzzy approximation error is not needed, while this scheme allows easier implementation architecture. Next, the concept is extended to controlling manipulators and achieves global robust tracking performances. Note that a linear matrix inequality (LMI) technique is applied and provides an easier gain design. Finally, numerical simulations are carried out on a two-link robot to illustrate the expected performances.
ER -
English
