구조적 복잡성을 감소시킨 로봇머니퓰레이터 적응 퍼지 제어
- Title
- 구조적 복잡성을 감소시킨 로봇머니퓰레이터 적응 퍼지 제어
- Other Titles
- Adaptive Fuzzy Control with Reduced Complexity for Robot Manipulators
- Author
- 양해원
- Issue Date
- 2008-07
- Publisher
- 대한전기학회
- Citation
- 2008 대한전기학회 하계학술대회 논문집, Page. 1775-1776
- Abstract
- This paper presents a adaptive fuzzy control suitable for
motion control of multi-link robot manipulators with uncertainties.
When joint velocities are available, full state adaptive fuzzy feedback
control is designed to ensure the stability of the closed loop dynamic.
If the joint velocities are not measurable, an observer is introduced
and an adaptive output feedback control is designed based on the
estimated velocities. To reduce the number of fuzzy rules of the
fuzzy controller, we consider the properties of robot dynamics and the
decomposition of the unknown input gain matrix. The proposed
controller is robust against uncertainties and external disturbances.
The validity of the control scheme is demonstrated by computer
simulations on a two-link robot manipulator.
- URI
- http://www.dbpia.co.kr/Journal/ArticleDetail/NODE01677266https://repository.hanyang.ac.kr/handle/20.500.11754/104730
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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