Discrete-Time Adaptive Controller Design for Robotic Manipulators via Neuro-fuzzy Dynamic Inversion

2005 ◽  
pp. 204-209
Author(s):  
Fuchun Sun ◽  
Yuangang Tang ◽  
Lee Li ◽  
Zhonghang Yin
Keyword(s):  
Discrete Time ◽  
Controller Design ◽  
Robotic Manipulators ◽  
Adaptive Controller ◽  
Dynamic Inversion ◽  
Neuro Fuzzy

Adaptive Controller Design for a Class of Discrete Nonlinear Systems

2012 ◽  
Vol 182-183 ◽  
pp. 1260-1264
Author(s):  
Xiao Chun Lou
Keyword(s):  
Nonlinear Systems ◽  
Discrete Time ◽  
Controller Design ◽  
Discrete Systems ◽  
Adaptive Controller ◽  
Discrete Time System ◽  
Time System ◽  
New Form ◽  
Discrete Nonlinear Systems ◽  
Nonlinear Discrete Systems

In this paper, we have discussed the adaptive controller problem for a class of nonlinear discrete systems. Firstly, the general nonlinear discrete-time system is transformed into a new form which is more suitable for adaptive controller design. Based on the new model, the observer is proposed to estimate the unavailable states. The adaptive controller is designed to track the desired trajectory.

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.

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