Abstract: The increasing demand on
robotic system performance leads to the use of advanced control
strategies. This paper proposes a method of nonlinear feedback
control introducing fuzzy inference into model-following
adaptive control for the nonlinear robot manipulator systems.
The fuzzy inference is introduced to treat the nonlinearities of
the control systems. Furthermore, the stability of the system is
discussed by the fuzzy stability theory based on the Lyapunov's
direct method. In the closed loop, the robotic system
asymptotically converge to the reference trajectory with a
prescribed transient response.
Key words:
Robot manipulator Fuzzy set Model-following adaptive control
* This project is supported by National Natural Science Foundation of
China. Manuscript received on June 12, 1994
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