Por favor, use este identificador para citar o enlazar este ítem: http://bibdigital.epn.edu.ec/handle/15000/9289
Título : Adaptive Fuzzy Decentralized Control of Robot Manipulators
Autor : Sadati, Nasser
Elhamifar, Ehsan
Palabras clave : MANIPULADORES
SISTEMAS DE CONTROL
Fecha de publicación : 12-mar-2007
Resumen : 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.
URI : http://bibdigital.epn.edu.ec/handle/15000/9289
Aparece en las colecciones: 2005 International Conference on Industrial Electronics and Control Applications (FIEE)

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