Velocity observer-based fuzzy adaptive control of multi-link robotic manipulators

Ching Hung Lee*, Hao Yuan Hsueh

*Corresponding author for this work

Research output: Contribution to conferencePaperpeer-review

2 Scopus citations

Abstract

This paper introduces a velocity observer-based fuzzy adaptive control scheme for nonlinear multi-link manipulator robot system with actuator dynamics. The system has uncertainty and unknown state derivative. The proposed approach combines the dynamic fuzzy logic system (DFLS) and nonlinear observer to deal with the tracking control problem of multi-link manipulator system. At first, the nonlinear system is transferred to a strict-feedback affine-like form. Then, we adopt the DFLS to approximate the nonlinear unknown functions and the observer is used to estimate the unmeasured states. Based on the Lyapunov approach, the adaptive laws of DFLS are obtained and the stability of the closed-loop system is guaranteed. Finally, simulation and experimental results are introduced to illustrate the effectiveness of our approach.

Original languageEnglish
Pages208-214
Number of pages7
DOIs
StatePublished - 2012
Event2012 International Conference on Fuzzy Theory and Its Applications, iFUZZY 2012 - Taichung, Taiwan
Duration: 16 Nov 201218 Nov 2012

Conference

Conference2012 International Conference on Fuzzy Theory and Its Applications, iFUZZY 2012
CountryTaiwan
CityTaichung
Period16/11/1218/11/12

Keywords

  • adaptive control
  • fuzzy systems
  • Lyapunov theorem
  • observer
  • Robot

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