Please use this identifier to cite or link to this item: http://bibdigital.epn.edu.ec/handle/15000/9289
Title: Adaptive Fuzzy Decentralized Control of Robot Manipulators
Authors: Sadati, Nasser
Elhamifar, Ehsan
Keywords: MANIPULADORES
SISTEMAS DE CONTROL
Issue Date: 12-Mar-2007
Abstract: 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
Type: Article
Appears in Collections:2005 International Conference on Industrial Electronics and Control Applications (FIEE)

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