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A fuzzy adaptive variable structure controller with applications to robot manipulators

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3 Author(s)
Ya-Chen Hsu ; Dept. of Electr. & Comput. Eng., Houston Univ., TX, USA ; Liang Chen ; Han-Xiong Li

A new adaptive fuzzy control algorithm is developed in this paper, which has a regular fuzzy controller and a supervisory control term. This control algorithm does not require the system model, but has stability assurance for the closed-loop controlled system. The design is simple, in the sense that both the membership functions and the rule base are simple, yet generic. It can be applied to a large class of robotic and other mechanical systems

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Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on  (Volume:31 ,  Issue: 3 )