Stable adaptive controller design of robotic manipulators via neuro-fuzzy dynamic inversion

2005 ◽  
Vol 22 (12) ◽  
pp. 809-819 ◽  
Author(s):  
Fu-Chun Sun ◽  
Zeng-Qi Sun ◽  
Han-Xiong Li
Keyword(s):  
Controller Design ◽  
Robotic Manipulators ◽  
Adaptive Controller ◽  
Dynamic Inversion ◽  
Neuro Fuzzy

scholarly journals Fractional-order fuzzy adaptive controller design for uncertain robotic manipulators

2019 ◽  
Vol 16 (2) ◽  
pp. 172988141984022 ◽  
Author(s):  
Yanping Deng
Keyword(s):  
Fuzzy Control ◽  
Fractional Order ◽  
Controller Design ◽  
Sliding Mode ◽  
Main Idea ◽  
Robotic Manipulators ◽  
Adaptive Controller ◽  
Small Region ◽  
Trajectory Tracking Control ◽  
Integer Order

A sliding mode adaptive fractional fuzzy control is provided in this article to achieve the trajectory tracking control of uncertain robotic manipulators. By adaptive fractional fuzzy control, we mean that fuzzy parameters are updated through fractional-order adaptation laws. The main idea of this work consists in using fractional input to control complex integer-order nonlinear systems. An adaptive fractional fuzzy control that guarantees tracking errors tend to an arbitrary small region is established. To facilitate the stability analysis, fractional-order integral Lyapunov functions are proposed, and the integer-order Lyapunov stability criterion is used. Finally, simulation results are presented to show the effectiveness of the proposed method.

Neural adaptive controller design of robotic manipulators with an observer

1999 ◽  
Vol 32 (2) ◽  
pp. 5485-5490
Author(s):  
Fuchun Sun ◽  
Zengqi Sun ◽  
PengYung Woo ◽  
Zhengdong Zhang
Keyword(s):  
Controller Design ◽  
Robotic Manipulators ◽  
Adaptive Controller
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