A Nonlinear Robust Control Using a Fuzzy Reasoning and Its Application to a Robot Manipulator

Keigo Watanabe; Kiyotaka Izumi; Takaaki Otsubo

doi:10.1023/a:1007964412597

A Nonlinear Robust Control Using a Fuzzy Reasoning and Its Application to a Robot Manipulator

Keigo Watanabe, Kiyotaka Izumi, Takaaki Otsubo

Research output: Contribution to journal › Article › peer-review

7 Citations (Scopus)

Abstract

A simplified adaptive nonlinear robust controller (SANROC) has been studied in the literature. However, this is based on using the so-called matching condition. The present controller is not based on using such a condition. The estimate of an upper bound for uncertainties is usually increased by using the adaptive mechanism, e.g., by consisting of a monotonically increased function. In this paper, instead of using such an analytically adaptive mechanism, a fuzzy reasoning technique is also incorporated with the adaptive mechanism of SANROC. The proposed method is applied to a pantagraph type robot manipulator. The effectiveness of the present method is illustrated by some experiments.

Original language	English
Pages (from-to)	275-294
Number of pages	20
Journal	Journal of Intelligent and Robotic Systems: Theory and Applications
Volume	20
Issue number	2-4
DOIs	https://doi.org/10.1023/a:1007964412597
Publication status	Published - 1997
Externally published	Yes

Keywords

Adaptive control
Fuzzy reasoning
Nonlinear control
Robot manipulator
Tracking control

ASJC Scopus subject areas

Software
Control and Systems Engineering
Mechanical Engineering
Industrial and Manufacturing Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1023/a:1007964412597

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T1 - A Nonlinear Robust Control Using a Fuzzy Reasoning and Its Application to a Robot Manipulator

AU - Watanabe, Keigo

AU - Izumi, Kiyotaka

AU - Otsubo, Takaaki

PY - 1997

Y1 - 1997

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AB - A simplified adaptive nonlinear robust controller (SANROC) has been studied in the literature. However, this is based on using the so-called matching condition. The present controller is not based on using such a condition. The estimate of an upper bound for uncertainties is usually increased by using the adaptive mechanism, e.g., by consisting of a monotonically increased function. In this paper, instead of using such an analytically adaptive mechanism, a fuzzy reasoning technique is also incorporated with the adaptive mechanism of SANROC. The proposed method is applied to a pantagraph type robot manipulator. The effectiveness of the present method is illustrated by some experiments.

KW - Adaptive control

KW - Fuzzy reasoning

KW - Nonlinear control

KW - Robot manipulator

KW - Tracking control

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A Nonlinear Robust Control Using a Fuzzy Reasoning and Its Application to a Robot Manipulator

Abstract

Keywords

ASJC Scopus subject areas

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