Fuzzy adaptation algorithms' control for robot manipulators with uncertainty modelling errors
type: Item
instance of: scholarly article
title: Fuzzy adaptation algorithms' control for robot manipulators with uncertainty modelling errors
zbMATH Open document ID: 1390.93483
DOI: 10.1155/2018/5468090
author: Yong-Qing Fan
author: Keyi Xing
author: Xiangkui Jiang
published in: Complexity
publication date: 2018-07-06T00:00:00Z
review text: Summary: A novel fuzzy control scheme with adaptation algorithms is developed for robot manipulators' system. At the beginning, one adjustable parameter is introduced in the fuzzy logic system, the robot manipulators system with uncertain nonlinear terms as the master device and a reference model dynamic system as the slave robot system. To overcome the limitations such as online learning computation burden and logic structure in conventional fuzzy logic systems, a parameter should be used in fuzzy logic system, which composes fuzzy logic system with updated parameter laws, and can be formed for a new fashioned adaptation algorithms controller. The error closed-loop dynamical system can be stabilized based on Lyapunov analysis, the number of online learning computation burdens can be reduced greatly, and the different kinds of fuzzy logic systems with fuzzy rules or without any fuzzy rules are also suited. Finally, effectiveness of the proposed approach has been shown in simulation example.
Mathematics Subject Classification ID: 93C42
Mathematics Subject Classification ID: 93C40
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 68T40
Mathematics Subject Classification ID: 93D05
zbMATH DE Number: 6899118
zbMATH Keywords: fuzzy control scheme
zbMATH Keywords: adaptation algorithms
zbMATH Keywords: robot manipulators
zbMATH Keywords: fuzzy logic system
zbMATH Keywords: Lyapunov stability
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2018/5468090
OpenAlex ID: W2799581651
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Wikidata QID: Q129853658
description: scientific article; zbMATH DE number 6899118