Hybrid force/position control in workspace of robotic manipulator in uncertain environments based on adaptive fuzzy control

2021 ◽  
pp. 103870
Author(s):  
Ziling Wang ◽  
Lai Zou ◽  
Xiaojie Su ◽  
Guoyue Luo ◽  
Rui Li ◽  
...  
Keyword(s):  
Fuzzy Control ◽  
Position Control ◽  
Adaptive Fuzzy Control ◽  
Robotic Manipulator ◽  
Uncertain Environments ◽  
Adaptive Fuzzy

Indirect adaptive fuzzy control of nonlinear descriptor systems

2020 ◽  
Vol 51 ◽  
pp. 30-38 ◽  
Author(s):  
Naeimeh Fakhr Shamloo ◽  
Ali Akbarzadeh Kalat ◽  
Luigi Chisci
Keyword(s):  
Fuzzy Control ◽  
Adaptive Fuzzy Control ◽  
Descriptor Systems ◽  
Adaptive Fuzzy

scholarly journals Finite-Time Adaptive Fuzzy Control for Nonlinear Systems with Unknown Backlash-Like Hysteresis

2021 ◽  
Author(s):  
Shuzhen Diao ◽  
Wei Sun ◽  
Le Wang ◽  
Jing Wu
Keyword(s):  
Fuzzy Control ◽  
Finite Time ◽  
Fuzzy Systems ◽  
Tracking Error ◽  
Adaptive Fuzzy Control ◽  
Finite Time Stability ◽  
Adaptive Fuzzy ◽  
Intermediate Variable ◽  
Control Scheme ◽  
Theoretical Results

AbstractThis study considers the tracking control problem of the nonstrict-feedback nonlinear system with unknown backlash-like hysteresis, and a finite-time adaptive fuzzy control scheme is developed to address this problem. More precisely, the fuzzy systems are employed to approximate the unknown nonlinearities, and the design difficulties caused by the nonlower triangular structure are also overcome by using the property of fuzzy systems. Besides, the effect of unknown hysteresis input is compensated by approximating an intermediate variable. With the aid of finite-time stability theory, the proposed control algorithm could guarantee that the tracking error converges to a smaller region. Finally, a simulation example is provided to further verify the above theoretical results.

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