Proceedings of the 8th International Conference on Management and Computer Science (ICMCS 2018)

Adaptive Fuzzy H∞ Robust Control for Manipulators in MIMO Systems

Authors
Xinming Hou, Yanhua Lei, Hongtao Yu, Yan Bao
Corresponding Author
Xinming Hou
Available Online October 2018.
DOI
10.2991/icmcs-18.2018.73How to use a DOI?
Keywords
Manipulators; Robust Control; Uncertain Items
Abstract

An adaptive fuzzy sliding mode robust control algorithm based on fuzzy compensation is proposed for the uncertain items, such as friction, unknown disturbances. An adaptive fuzzy system is used to approximate the unknown nonlinear term, the parameter adaptive law of fuzzy system is designed by using Lyapunov function, eliminating the dependence on prior knowledge, robust control is introduced to eliminate the influence of approximation error and then to keep stabilization, Finally, the effectiveness of the control algorithm is verified by the simulation experiment of the two degree of freedom manipulator.

Copyright
© 2018, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Download article (PDF)

Volume Title
Proceedings of the 8th International Conference on Management and Computer Science (ICMCS 2018)
Series
Advances in Computer Science Research
Publication Date
October 2018
ISBN
978-94-6252-590-0
ISSN
2352-538X
DOI
10.2991/icmcs-18.2018.73How to use a DOI?
Copyright
© 2018, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Cite this article

TY  - CONF
AU  - Xinming Hou
AU  - Yanhua Lei
AU  - Hongtao Yu
AU  - Yan Bao
PY  - 2018/10
DA  - 2018/10
TI  - Adaptive Fuzzy H∞ Robust Control for Manipulators in MIMO Systems
BT  - Proceedings of the 8th International Conference on Management and Computer Science (ICMCS 2018)
PB  - Atlantis Press
SP  - 361
EP  - 364
SN  - 2352-538X
UR  - https://doi.org/10.2991/icmcs-18.2018.73
DO  - 10.2991/icmcs-18.2018.73
ID  - Hou2018/10
ER  -