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International Journal of Control, Automation and Systems v.5 no.6, 2007년, pp.630 - 642   피인용횟수: 4
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A Direct Adaptive Fuzzy Control of Nonlinear Systems with Application to Robot Manipulator Tracking Control

Cho, Young-Wan    (Dept. of Computer Engineering, Seokyeong University   ); Seo, Ki-Sung    (Dept. of Electronic Engineering, Seokyeong University   ); Lee, Hee-Jin    (Dept. of Information and Control Engineering, Hankyong University  );
  • 초록

    In this paper, we propose a direct model reference adaptive fuzzy control (MRAFC) for MIMO nonlinear systems whose structure is represented by the Takagi-Sugeno fuzzy model. The adaptive law of the MRAFC estimates the approximation error of the fuzzy logic system so that it provides asymptotic tracking of the reference signal for the systems with uncertain or slowly time-varying parameters. The developed control law and adaptive law guarantee the boundedness of all signals in the closed-loop system. In addition, the plant state tracks the state of the reference model asymptotically with time for any bounded reference input signal. To verify the validity and effectiveness of the MRAFC scheme, the suggested analysis and design techniques are applied to the tracking control of robot manipulator and simulation studies are carried out. In the control design, the MRAFC is combined with feedforward PD control to make the actual joint trajectories of the robot manipulator with system uncertainties track the desired reference joint position trajectories asymptotically stably.


  • 주제어

    Adaptive fuzzy control .   model reference adaptive control .   nonlinear system .   robot manipulator .   Takagi-Sugeno model .   tracking control.  

  • 참고문헌 (22)

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  • 이 논문을 인용한 문헌 (4)

    1. 2009. "" International Journal of Control, Automation and Systems, 7(1): 85~96     
    2. Kim, Seung-Woo ; Seo, Ki-Sung ; Cho, Young-Wan 2009. "A Trajectory Tracking Control of Wheeled Mobile Robot Using a Model Reference Adaptive Fuzzy Controller" 제어·로봇·시스템학회 논문지 = Journal of institute of control, robotics and systems, 15(7): 711~719     
    3. 2011. "" International Journal of Control, Automation and Systems, 9(1): 86~97     
    4. 2011. "" International Journal of Control, Automation and Systems, 9(3): 550~557     

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