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 journalArticle

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 languageEnglish
Pages (from-to)275-294
Number of pages20
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Volume20
Issue number2-4
Publication statusPublished - Dec 1 1997
Externally publishedYes

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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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