Mean-Based Fuzzy Control for a Class of MIMO Robotic Systems

研究成果: 雜誌貢獻文章

4 引文 斯高帕斯(Scopus)

摘要

This paper presents mean-based fuzzy controllers for trajectory tracking for a class of multiple-input multiple-output robotic systems with nonaffine-like form and parametric uncertainties, in which direct adaptive controllers with state estimators are developed via a mean-based fuzzy identifier without prior knowledge of the membership functions. By using the proposed adaptive technique, unfavorable influence from the initial design of membership functions can be effectively diminished. Moreover, the computation burden of the adaptive laws can be successfully alleviated because the derivative of the fuzzy systems is not required. A Lyapunov-based stability analysis is utilized to guarantee successful system control and desired tracking performance of the closed-loop system. Finally, two examples are provided to demonstrate the feasibility of the proposed control method.

原文英語
文章編號7329994
頁(從 - 到)966-980
頁數15
期刊IEEE Transactions on Fuzzy Systems
24
發行號4
DOIs
出版狀態已發佈 - 2016 八月 1

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computational Theory and Mathematics
  • Artificial Intelligence
  • Applied Mathematics

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