The increasing demand on robotic system performance leads to the use of advanced con- trol strategies. This paper proposes a method of nonlinear feedback control introducing fuzzy infer- ence into model-following adap...The increasing demand on robotic system performance leads to the use of advanced con- trol strategies. This paper proposes a method of nonlinear feedback control introducing fuzzy infer- ence into model-following adaptive control for the nonlinear robot manipulator systems. The fuzzy inference is introduced to treat the nonlinearities of the control systems. Furthermore, the stability of the system is discussed by the fuzzy stability theory based on the Lyapunov's direct method. In the closed loop, the robotic system asymptotically converge to the reference trajectory with a pre- scribed transient response.展开更多
文摘The increasing demand on robotic system performance leads to the use of advanced con- trol strategies. This paper proposes a method of nonlinear feedback control introducing fuzzy infer- ence into model-following adaptive control for the nonlinear robot manipulator systems. The fuzzy inference is introduced to treat the nonlinearities of the control systems. Furthermore, the stability of the system is discussed by the fuzzy stability theory based on the Lyapunov's direct method. In the closed loop, the robotic system asymptotically converge to the reference trajectory with a pre- scribed transient response.
