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Journal ArticleDOI

Observer-based adaptive control of robot manipulators: Fuzzy systems approach

01 Jan 2008-Vol. 8, Iss: 1, pp 778-787
TL;DR: This paper presents a fuzzy adaptive control suitable for motion control of multi-link robot manipulators with structured and unstructured uncertainties and shows that required stability conditions can be formulated as LMI problems and solved using dedicated software.
Abstract: This paper presents a fuzzy adaptive control suitable for motion control of multi-link robot manipulators with structured and unstructured uncertainties. When joint velocities are available, full state fuzzy adaptive feedback control is designed to ensure the stability of the closed loop dynamic. If the joint velocities are not measurable, an observer is introduced and an adaptive output feedback control is designed based on the estimated velocities. In the proposed control scheme, we need not derive the linear formulation of robot dynamic equation and tune the parameters. To reduce the number of fuzzy rules of the fuzzy controller, we consider the properties of robot dynamics and the decomposition of the uncertainties terms. The proposed controller is robust against uncertainties and external disturbance. Further, it is shown that required stability conditions, in both cases, can be formulated as LMI problems and solved using dedicated software. The validity of the control scheme is demonstrated by computer simulations on a two-link robot manipulator.
Citations
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Journal ArticleDOI
TL;DR: It is proven that the proposed fuzzy adaptive control approach guarantees the semi-global boundedness property for all the signals and the tracking error to a small neighborhood of the origin.

445 citations

Journal ArticleDOI
TL;DR: It is shown that by applying the proposed adaptive fuzzy control approach, the closed-loop systems are semiglobally uniformly ultimately bounded.
Abstract: In this paper, an adaptive fuzzy output feedback control approach is proposed for single-input-single-output nonlinear systems without the measurements of the states. The nonlinear systems addressed in this paper are assumed to possess unmodeled dynamics in the presence of unstructured uncertainties and dynamic disturbances, where the unstructured uncertainties are not linearly parameterized, and no prior knowledge of their bounds are available. Fuzzy logic systems are used to approximate the unstructured uncertainties, and a state observer is developed to estimate the unmeasured states. By combining the backstepping technique with the small-gain approach, a stable adaptive fuzzy output feedback control method is proposed. It is shown that by applying the proposed adaptive fuzzy control approach, the closed-loop systems are semiglobally uniformly ultimately bounded. The effectiveness of the proposed approach is illustrated from simulation results.

392 citations


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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Journal ArticleDOI
01 Jan 2010
TL;DR: It is proven that all the signals of the resulting closed-loop system are uniformly bounded and that the tracking errors converge to a small neighborhood around zero.
Abstract: A robust adaptive fuzzy control approach is developed for a class of multi-input-multi-output (MIMO) nonlinear systems with modeling uncertainties and external disturbances by using both the approximation property of the fuzzy logic systems and the backstepping technique. The MIMO systems are composed of interconnected subsystems in the strict-feedback form. The main characteristics of the developed approach are that the online computation burden is alleviated and the robustness to dynamic uncertainties and external disturbances is improved. It is proven that all the signals of the resulting closed-loop system are uniformly bounded and that the tracking errors converge to a small neighborhood around zero. Two simulation experiments are presented to demonstrate the feasibility of the approach developed in this paper.

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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Journal ArticleDOI
TL;DR: It is proved that the proposed fuzzy adaptive control approach can guarantee the semi-global uniform ultimate boundedness for all the signals and the tracking error to a small neighborhood of the origin.

272 citations

Journal ArticleDOI
TL;DR: This paper addresses the adaptive fuzzy tracking control problem for a class of uncertain nonlinear MIMO systems with the external disturbances by using Lyapunov analysis method and proves that all the signals in the closed-loop system are guaranteed to be bounded and the system outputs track the reference signals to a bounded compact set.

188 citations

References
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Journal ArticleDOI
TL;DR: In this paper, an adaptive robot control algorithm is derived, which consists of a PD feedback part and a full dynamics feed for the compensation part, with the unknown manipulator and payload parameters being estimated online.
Abstract: A new adaptive robot control algorithm is derived, which consists of a PD feedback part and a full dynamics feedfor ward compensation part, with the unknown manipulator and payload parameters being estimated online. The algorithm is computationally simple, because of an effective exploitation of the structure of manipulator dynamics. In particular, it requires neither feedback of joint accelerations nor inversion of the estimated inertia matrix. The algorithm can also be applied directly in Cartesian space.

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....

    [...]

Book
01 Jan 1994

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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Book
01 Mar 1993
TL;DR: Control of robot manipulators , Control of robot Manipulators , مرکز فناوری اطلاعات و £1,000,000; اوشاوρز رسانی, کسورزی;
Abstract: Control of robot manipulators , Control of robot manipulators , مرکز فناوری اطلاعات و اطلاع رسانی کشاورزی

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....

    [...]

Journal ArticleDOI
TL;DR: In this paper, an accurate dynamic model of a mechanical manipulator is used in a nonlinear, model-based scheme to control the manipulator, which yields a controllable manipulator.
Abstract: When an accurate dynamic model of a mechanical manipu lator is available, it may be used in a nonlinear, model-based scheme to control the manipulator. Such a control formula tion yields a controll...

889 citations

Book
01 Sep 1987
TL;DR: What is believed to be the first golbally convergent, rigorous proof of the stability of such a scheme in its non-linear setting, as well as its asymptotic properties and conditions for parameter convergence are presented.
Abstract: We present an adaptive version of the computed torque method for the control of manipulators with rigid links. The algorithun estimates parameters on-line which appear in the non-linear dynamic model of the manipulator, such as load and link mass parameters and friction parameters, and uses the latest estimates in the computed torque servo. We present what we believe is the first golbally convergent, rigorous proof of the stability of such a scheme in its non-linear setting, as well as its asymptotic properties and conditions for parameter convergence. We illustrate the theory with some simulation results.

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....

    [...]