Observer-based adaptive control of robot manipulators: Fuzzy systems approach
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Cites background from "Observer-based adaptive control of ..."
...Various adaptive fuzzy control approaches based on the feedback linearization have been introduced for controlling nonlinear systems [11]–[25]....
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289 citations
Cites background or methods from "Observer-based adaptive control of ..."
...has obtained much attention [16], [20], [27], [28], [33], [34]....
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...Several stable control approaches were proposed for uncertain single-input–singleoutput (SISO) [9], [10], [13], [15], [32], [35], [36] and multi-input–multi-output (MIMO) [16], [27], [28], [33], [34] nonlinear systems....
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...Some significant adaptive control schemes for uncertainty MIMO nonlinear systems have been obtained by adjusting the estimation vectors of the optimal fuzzy parameter vectors [16], [27], [28], [30], [34] or the optimal neural network weight vectors [17], [20], [22], [33]....
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...However, for the most of the analytical results in the adaptive control for MIMO nonlinear systems with completely unknown functions, the adaptation laws were obtained by adjusting the estimation vectors of the optimal fuzzy parameter vectors [16], [27], [28], [30], [34] or the optimal neural weight vectors [17], [20], [22], [33]....
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...Therefore, if the schemes proposed in [16], [17], [20], [22], [27], [28], [30], [33], and [34] were employed to stabilize the corresponding nonlinear system, the online computation burden would be very heavy....
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References
2,117 citations
"Observer-based adaptive control of ..." refers background in this paper
...Although adaptive controllers [1,5,7] can achieve fine control and compensate for partially unknown manipulator dynamics (i....
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1,196 citations
"Observer-based adaptive control of ..." refers background in this paper
...Theoretical results [20,21] have shown that fuzzy systems (5) are universal approximators, i....
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1,146 citations
"Observer-based adaptive control of ..." refers background in this paper
...As a result, it is difficult to obtain an accurate mathematical model so that computed torque controllers [1,6] or other model-based controllers [3,8] can be accurately applied....
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889 citations
862 citations
"Observer-based adaptive control of ..." refers background in this paper
...Although adaptive controllers [1,5,7] can achieve fine control and compensate for partially unknown manipulator dynamics (i....
[...]
...As a result, it is difficult to obtain an accurate mathematical model so that computed torque controllers [1,6] or other model-based controllers [3,8] can be accurately applied....
[...]