- Tytuł:
- One DOF robot manipulator control through type-2 fuzzy robust adaptive controller
- Autorzy:
-
Naderolasli, Amir
Chatraei, Abbas - Powiązania:
- https://bibliotekanauki.pl/articles/385206.pdf
- Data publikacji:
- 2019
- Wydawca:
- Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
- Tematy:
-
robot manipulator
Lyapunov function
one-DOF robot
adaptive fuzzy controller
robust
manipulator robota
funkcja Lapunowa
sterownik adaptacyjno-rozmyty - Opis:
- In this article, the one DOF robot manipulator control is assessed through second type robust fuzzy-adaptive controller. The objective is to obtain a tracking path with appropriate accuracy. The stability of the closed loop system is verified through Lyapunov stability theory and the efficiency of tracking is analyzed subject to the constraints and uncertainty. In order to design the fuzzy controller a set of if-then fuzzy rules are considered which describe the system input-output behavior. Simulation and the results of the experiments on the one DOF robots indicate the effectiveness of the proposed methods.
- Źródło:
-
Journal of Automation Mobile Robotics and Intelligent Systems; 2019, 13, 1; 65-70
1897-8649
2080-2145 - Pojawia się w:
- Journal of Automation Mobile Robotics and Intelligent Systems
- Dostawca treści:
- Biblioteka Nauki
Artykuł