Adaptive model reference control based on Takagi-Sugeno fuzzy models with applications to flexible joint manipulators

作     者：Lee, J Lim, JH Park, CW Kim, S 

作者机构：Korea Atom Energy Res Inst Adv Robot Lab Taejon 305353 South Korea Korea Elect Technol Inst Precis Machinery Res Ctr Puchon 420140 Kyunggi Do South Korea Hanyang Univ Sch Elect Engn & Comp Sci Ansan Kyunggi Do South Korea 

出 版 物：《KSME INTERNATIONAL JOURNAL》 (韩国机械工程师学会国际杂志)

年 卷 期：2004年第18卷第3期

页      面：337-346页

核心收录：

学科分类：08[工学] 0802[工学-机械工程] 

主　　题：adaptive control fuzzy control flexible joint manipulator model reference control 

摘      要：The control scheme using fuzzy modeling and Parallel Distributed Compensation (PDC) concept is proposed to provide asymptotic tracking of a reference signal for the flexible joint manipulators with uncertain parameters. From Lyapunov stability analysis and simulation results, the developed control law and adaptive law guarantee the boundedness of all signals in the closed-loop multi-input/multi-output system. In addition, the plant state tracks the state of the reference model asymptotically with time for any bounded reference input signal.