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Adaptive tuning of the fuzzy controller for robots

✍ Scribed by Sheng-De Wang; Chuan-Kai Lin

Publisher
Elsevier Science
Year
2000
Tongue
English
Weight
325 KB
Volume
110
Category
Article
ISSN
0165-0114

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✦ Synopsis

An adaptive tuning algorithm of the fuzzy controller is developed for a class of serial-link robot arms. The algorithm can on-line tune parameters of premise and consequence parts of fuzzy rules of the fuzzy basis function (FBF) controller. The main part of the fuzzy controller is a fuzzy basis function network to approximate unknown rigid serial-link robot dynamics. Under some mild assumptions, a stability analysis guarantees that both tracking errors and parameter estimate errors are bounded. Moreover, a robust technique is adopted to deal with uncertainties including approximation errors and external disturbances. Simulations of the proposed controller on the PUMA-560 robot arm demonstrate the e ectiveness.

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