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 |
| Publication status | Published - 1997 |
| Externally published | Yes |
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Keywords
- Adaptive control
- Fuzzy reasoning
- Nonlinear control
- Robot manipulator
- Tracking control
ASJC Scopus subject areas
- Artificial Intelligence
- Control and Systems Engineering
Cite this
A Nonlinear Robust Control Using a Fuzzy Reasoning and Its Application to a Robot Manipulator. / Watanabe, Keigo; Izumi, Kiyotaka; Otsubo, Takaaki.
In: Journal of Intelligent and Robotic Systems: Theory and Applications, Vol. 20, No. 2-4, 1997, p. 275-294.Research output: Contribution to journal › Article
}
TY - JOUR
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
N2 - 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.
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
UR - http://www.scopus.com/inward/record.url?scp=0031249893&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0031249893&partnerID=8YFLogxK
M3 - Article
VL - 20
SP - 275
EP - 294
JO - Journal of Intelligent and Robotic Systems: Theory and Applications
JF - Journal of Intelligent and Robotic Systems: Theory and Applications
SN - 0921-0296
IS - 2-4
ER -