In this paper, an adaptive fuzzy control algorithm is proposed for trajectory tracking of an n-DOF robot manipulator subjected to parametric uncertainty and it is advantageous compared to the conventional nonlinear sa...In this paper, an adaptive fuzzy control algorithm is proposed for trajectory tracking of an n-DOF robot manipulator subjected to parametric uncertainty and it is advantageous compared to the conventional nonlinear saturation controller. The asymptotic stability of the proposed controller has been derived based on Lyapunaov energy function. The design procedure is straightforward due to its simple fuzzy rules and control strategies. The simulation results show that the present control strategy effectively reduces the control effort with negligible chattering in control torque signals in comparison to the existing nonlinear saturation controller.展开更多
This paper considers the robust delay-dependent stability problem of a class of linear uncertain system with interval time-varying delay and proposes less conservative stability criteria for computing the maximum allo...This paper considers the robust delay-dependent stability problem of a class of linear uncertain system with interval time-varying delay and proposes less conservative stability criteria for computing the maximum allowable bound of the delay range. Less conservatism of the proposed stability criteria is attributed to the delay-central point method of stability analysis, wherein the delay interval is partitioned into two subintervals of equal length, and the time derivative of a candidate Lyapunov-Krasovskii functional based on delay decomposition technique is evaluated in each of these delay segments. In deriving the stability conditions in LMI framework, neither model transformations nor bounding techniques using free-weighting matrix variables are employed for dealing the cross-terms that emerge from the time derivative of the Lyapunov-Krasovskii functional; instead, they are dealt using tighter integral inequalities. The proposed analysis subsequently yields a stability condition in convex LMI framework that can be solved using standard numerical packages. For deriving robust stability conditions, two categories of system uncertainties, namely, time-varying structured and polytopic-type uncertainties, are considered. The effectiveness of the proposed stability criteria is validated through standard numerical examples.展开更多
文摘In this paper, an adaptive fuzzy control algorithm is proposed for trajectory tracking of an n-DOF robot manipulator subjected to parametric uncertainty and it is advantageous compared to the conventional nonlinear saturation controller. The asymptotic stability of the proposed controller has been derived based on Lyapunaov energy function. The design procedure is straightforward due to its simple fuzzy rules and control strategies. The simulation results show that the present control strategy effectively reduces the control effort with negligible chattering in control torque signals in comparison to the existing nonlinear saturation controller.
文摘This paper considers the robust delay-dependent stability problem of a class of linear uncertain system with interval time-varying delay and proposes less conservative stability criteria for computing the maximum allowable bound of the delay range. Less conservatism of the proposed stability criteria is attributed to the delay-central point method of stability analysis, wherein the delay interval is partitioned into two subintervals of equal length, and the time derivative of a candidate Lyapunov-Krasovskii functional based on delay decomposition technique is evaluated in each of these delay segments. In deriving the stability conditions in LMI framework, neither model transformations nor bounding techniques using free-weighting matrix variables are employed for dealing the cross-terms that emerge from the time derivative of the Lyapunov-Krasovskii functional; instead, they are dealt using tighter integral inequalities. The proposed analysis subsequently yields a stability condition in convex LMI framework that can be solved using standard numerical packages. For deriving robust stability conditions, two categories of system uncertainties, namely, time-varying structured and polytopic-type uncertainties, are considered. The effectiveness of the proposed stability criteria is validated through standard numerical examples.
