An adaptive fuzzy logic controller for robot-manipulator
In this paper, an adaptive fuzzy controller is designed for the robot-manipulator. The synthesized controller ensures that 1) the close-loop system is globally stable and 2) the tracking error converges to zero asymptotically and a cost function is minimized. The fuzzy controller is synthesized from...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2004-06-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/5628 |
| _version_ | 1819056203795267584 |
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| author | Ho Dac Loc Tran Thu Ha Ngo Cao Cuong |
| author_facet | Ho Dac Loc Tran Thu Ha Ngo Cao Cuong |
| author_sort | Ho Dac Loc |
| collection | DOAJ |
| description | In this paper, an adaptive fuzzy controller is designed for the robot-manipulator. The synthesized controller ensures that 1) the close-loop system is globally stable and 2) the tracking error converges to zero asymptotically and a cost function is minimized. The fuzzy controller is synthesized from a collection of IF-THEN rules. The parameters of the membership functions characterizing the linguistic terms change according to some adaptive law for the purpose of controlling a plant to track a reference trajectory. The proposed control scheme is demonstrated in a typical nonlinear plant two link manipulator. The computer simulation of control is done by the language MATLAB. The results of simulation show that the adaptive controller well operates and provides good qualities of the control system. The presented results are analyzed. |
| first_indexed | 2024-12-21T13:19:41Z |
| format | Article |
| id | doaj.art-c9d88ab9ed124607834a16d4b1dc089a |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-21T13:19:41Z |
| publishDate | 2004-06-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-c9d88ab9ed124607834a16d4b1dc089a2022-12-21T19:02:37ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142004-06-01110.5772/562810.5772_5628An adaptive fuzzy logic controller for robot-manipulatorHo Dac Loc0Tran Thu Ha1Ngo Cao Cuong2 Hochiminh City University of technology Hochiminh City University of technical education Hochiminh City University of technologyIn this paper, an adaptive fuzzy controller is designed for the robot-manipulator. The synthesized controller ensures that 1) the close-loop system is globally stable and 2) the tracking error converges to zero asymptotically and a cost function is minimized. The fuzzy controller is synthesized from a collection of IF-THEN rules. The parameters of the membership functions characterizing the linguistic terms change according to some adaptive law for the purpose of controlling a plant to track a reference trajectory. The proposed control scheme is demonstrated in a typical nonlinear plant two link manipulator. The computer simulation of control is done by the language MATLAB. The results of simulation show that the adaptive controller well operates and provides good qualities of the control system. The presented results are analyzed.https://doi.org/10.5772/5628 |
| spellingShingle | Ho Dac Loc Tran Thu Ha Ngo Cao Cuong An adaptive fuzzy logic controller for robot-manipulator International Journal of Advanced Robotic Systems |
| title | An adaptive fuzzy logic controller for robot-manipulator |
| title_full | An adaptive fuzzy logic controller for robot-manipulator |
| title_fullStr | An adaptive fuzzy logic controller for robot-manipulator |
| title_full_unstemmed | An adaptive fuzzy logic controller for robot-manipulator |
| title_short | An adaptive fuzzy logic controller for robot-manipulator |
| title_sort | adaptive fuzzy logic controller for robot manipulator |
| url | https://doi.org/10.5772/5628 |
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