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 | |
| 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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Cite this
Watanabe, K., Izumi, K., & Otsubo, T. (1997). A Nonlinear Robust Control Using a Fuzzy Reasoning and Its Application to a Robot Manipulator. Journal of Intelligent and Robotic Systems: Theory and Applications, 20(2-4), 275-294. https://doi.org/10.1023/a:1007964412597