Adaptive Fuzzy H∞ Robust Control for Manipulators in MIMO Systems

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/).

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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  -