Robust self-tuning rotated fuzzy basis function controller for robot arms | Zendy

ChengKai Lin | Zendy; S.-D. Wang | Zendy

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Robust self-tuning rotated fuzzy basis function controller for robot arms

Author(s) -

ChengKai Lin,

S.-D. Wang

Publication year - 1997

Publication title -

iee proceedings - control theory and applications

Language(s) - English

Resource type - Journals

eISSN - 1359-7035

pISSN - 1350-2379

DOI - 10.1049/ip-cta:19971000

Subject(s) - control theory (sociology) , controller (irrigation) , fuzzy logic , basis (linear algebra) , robot , bounded function , robotic arm , fuzzy control system , basis function , computer science , function (biology) , robot control , control engineering , mobile robot , engineering , mathematics , artificial intelligence , control (management) , mathematical analysis , geometry , evolutionary biology , agronomy , biology

An adaptive fuzzy controller is developed for a serial-link robot arm. The proposed rotated fuzzy basis function (RFBF) controller is a more flexible fuzzy basis function expansion to approximate unknown functions of the robot model. All parameters of RFBF network can be tuned online when the number of rules is determined. In the control design, the unmodelled dynamics are considered. Moreover, the stability analysis shows that the states and tracking errors of the robot arm are uniformly bounded. Simulations of the proposed controller on the PUMA-560 robot arm demonstrate the effectiveness.

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