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Adaptive control of robot manipulators using an incremental fuzzy system

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3 Author(s)
Chang-Hyun Kim ; Department of Electrical Engineering and Computer Science, Korea Advanced Institute of Science and Technology (KAIST), 373-1, Guseong-dong, Yuseong-gu, Daejeon, 305-701, Korea ; Soung-Min Im ; Ju-Jang Lee

An adaptive control using an incremental fuzzy system is proposed in this paper. The overall controller is comprised of a conventional PD controller and a fuzzy controller which learns the inverse dynamics model of the robot manipulator. The structure and parameters of the fuzzy controller are determined dynamically by using an incremental hyperplane-based fuzzy clustering. Its parameters are further refined to compensate for the unmodeled dynamics of the system. The proposed control scheme is applied to control a two-link robot manipulator. The simulation results show that the proposed method can give favorable tracking performance by incorporating of an incremental learning and an adaptive control technique.

Published in:

2008 IEEE International Conference on Mechatronics and Automation

Date of Conference:

5-8 Aug. 2008