Adaptive Fuzzy Computed-Torque Control for Robot Manipulator with Uncertain Dynamics
نویسندگان
چکیده
منابع مشابه
Adaptive Fuzzy Computed-Torque Control for Robot Manipulator with Uncertain Dynamics
To overcome the disadvantages of conventional computed‐torque control and fuzzy control, and to exploit their attractive features, this paper proposes two types of adaptive control scheme combining conventional computed‐torque control and different fuzzy compensators for the robust tracking control of robotic manipulators with structured and unstructured unce...
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On the basis of inverse dynamics controller as a nominal control portion, two types of novel robust adaptive inverse dynamics control schemes are proposed for the trajectory tracking control of robot manipulator with uncertain dynamics. They are composed of an adaptive fuzzy control algorithm and a nonlinear H∞ tracking control model. The adaptive fuzzy control algorithm is employed to approxim...
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Computed torque controller (CTC) is a significant nonlinear controller under condition of partly uncertain dynamic parameters of system. This controller is used to control of h ighly nonlinear systems especially for robot manipulators, because this controller is a robust and stable. Conversely, computed torque controller is used in many applications; it has an important drawback namely; nonline...
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a mobile manipulator robot is known as a complex system due to some properties such as coupling between the manipulator and mobile chassis, holonomic and nonholonomic constraints, multivariable and nonlinear dynamics. the control of robot faces the external disturbance, parametric uncertainty and unmodeled dynamics. therefore, the use of an adaptive fuzzy system is suggested for its capability ...
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ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2012
ISSN: 1729-8814,1729-8814
DOI: 10.5772/54643