Adaptive Fuzzy Decentralized Control of Robot Manipulators
In this paper an adaptive fuzzy decentralized control algorithm for trajectory tracking of robot manipulators is developed. The proposed decentralized control algorithm allows the overall closed-loop system to be stabilized while making the tracking error to be uniformly ultimately bounded (UUB), wi...
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| Natura: | article |
| Lingua: | eng |
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2007
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| Accesso online: | http://bibdigital.epn.edu.ec/handle/15000/9289 |
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| author | Sadati, Nasser |
| author2 | Elhamifar, Ehsan |
| author2_role | author |
| author_facet | Sadati, Nasser Elhamifar, Ehsan |
| author_role | author |
| collection | Repositorio Escuela Politécnica Nacional |
| dc.creator.none.fl_str_mv | Sadati, Nasser Elhamifar, Ehsan |
| dc.date.none.fl_str_mv | 2007-03-12T16:58:59Z 2007-03-12T16:58:59Z 2007-03-12T16:58:59Z 2010-09-07T16:32:45Z 2010-09-07T16:32:45Z 2011-03-10T14:33:30Z 2011-03-10T14:33:30Z |
| dc.identifier.none.fl_str_mv | http://bibdigital.epn.edu.ec/handle/15000/9289 |
| dc.language.none.fl_str_mv | eng |
| dc.rights.none.fl_str_mv | https://creativecommons.org/licenses/by-nc-nd/4.0/ info:eu-repo/semantics/openAccess |
| dc.source.none.fl_str_mv | reponame:Repositorio Escuela Politécnica Nacional instname:Escuela Politécnica Nacional instacron:EPN |
| dc.subject.none.fl_str_mv | MANIPULADORES SISTEMAS DE CONTROL MANIPULATORS CONTROL SYSTEMS |
| dc.title.none.fl_str_mv | Adaptive Fuzzy Decentralized Control of Robot Manipulators |
| dc.type.none.fl_str_mv | info:eu-repo/semantics/publishedVersion info:eu-repo/semantics/article |
| description | In this paper an adaptive fuzzy decentralized control algorithm for trajectory tracking of robot manipulators is developed. The proposed decentralized control algorithm allows the overall closed-loop system to be stabilized while making the tracking error to be uniformly ultimately bounded (UUB), without having any prior knowledge of the robot manipulator dynamics. The interconnections in the dynamic equations of each subsystem are considered with unknown nonlinear bounds. The adaptive fuzzy neural networks (AFNNs) are proposed to model the unknown nonlinear dynamics of the robots and the interconnection terms. Using Lyapunov method, the stability of the overall system is investigated. |
| eu_rights_str_mv | openAccess |
| format | article |
| id | EPN_a5a9c09bfa532142e58a7d98666353de |
| instacron_str | EPN |
| institution | EPN |
| instname_str | Escuela Politécnica Nacional |
| language | eng |
| network_acronym_str | EPN |
| network_name_str | Repositorio Escuela Politécnica Nacional |
| oai_identifier_str | oai:bibdigital.epn.edu.ec:15000/9289 |
| publishDate | 2007 |
| reponame_str | Repositorio Escuela Politécnica Nacional |
| repository.mail.fl_str_mv | . |
| repository.name.fl_str_mv | Repositorio Escuela Politécnica Nacional - Escuela Politécnica Nacional |
| repository_id_str | 1553 |
| rights_invalid_str_mv | https://creativecommons.org/licenses/by-nc-nd/4.0/ |
| spelling | Adaptive Fuzzy Decentralized Control of Robot ManipulatorsSadati, NasserElhamifar, EhsanMANIPULADORESSISTEMAS DE CONTROLMANIPULATORSCONTROL SYSTEMSIn this paper an adaptive fuzzy decentralized control algorithm for trajectory tracking of robot manipulators is developed. The proposed decentralized control algorithm allows the overall closed-loop system to be stabilized while making the tracking error to be uniformly ultimately bounded (UUB), without having any prior knowledge of the robot manipulator dynamics. The interconnections in the dynamic equations of each subsystem are considered with unknown nonlinear bounds. The adaptive fuzzy neural networks (AFNNs) are proposed to model the unknown nonlinear dynamics of the robots and the interconnection terms. Using Lyapunov method, the stability of the overall system is investigated.2007-03-12T16:58:59Z2010-09-07T16:32:45Z2011-03-10T14:33:30Z2007-03-12T16:58:59Z2010-09-07T16:32:45Z2011-03-10T14:33:30Z2007-03-12T16:58:59Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articlehttp://bibdigital.epn.edu.ec/handle/15000/9289enghttps://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/openAccessreponame:Repositorio Escuela Politécnica Nacionalinstname:Escuela Politécnica Nacionalinstacron:EPN2019-04-07T23:44:14Zoai:bibdigital.epn.edu.ec:15000/9289Institucionalhttps://bibdigital.epn.edu.ec/Universidad públicahttps://www.epn.edu.ec/https://bibdigital.epn.edu.ec/oai.Ecuador...opendoar:15532019-04-07T23:44:14Repositorio Escuela Politécnica Nacional - Escuela Politécnica Nacionalfalse |
| spellingShingle | Adaptive Fuzzy Decentralized Control of Robot Manipulators Sadati, Nasser MANIPULADORES SISTEMAS DE CONTROL MANIPULATORS CONTROL SYSTEMS |
| status_str | publishedVersion |
| title | Adaptive Fuzzy Decentralized Control of Robot Manipulators |
| title_full | Adaptive Fuzzy Decentralized Control of Robot Manipulators |
| title_fullStr | Adaptive Fuzzy Decentralized Control of Robot Manipulators |
| title_full_unstemmed | Adaptive Fuzzy Decentralized Control of Robot Manipulators |
| title_short | Adaptive Fuzzy Decentralized Control of Robot Manipulators |
| title_sort | Adaptive Fuzzy Decentralized Control of Robot Manipulators |
| topic | MANIPULADORES SISTEMAS DE CONTROL MANIPULATORS CONTROL SYSTEMS |
| url | http://bibdigital.epn.edu.ec/handle/15000/9289 |