Journal of Mechanical Science and Technology

The Korean Society of Mechanical Engineers (대한기계학회)
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Adaptive Model Reference Control Based on Takagi-Sugeno Fuzzy Models with Applications to Flexible Joint Manipulators

  • Lee, Jongbae (School of Electrical Engineering and Computer Science, Hanyang University) ;
  • Lim, Joon-hong (School of Electrical Engineering and Computer Science, Hanyang University) ;
  • Park, Chang-Woo (Precision Machinery Research Center, Korea Electronics Technology Institute) ;
  • Kim, Seungho (Advanced Robot Lab., Korea Atomic Energy Research Institute)
  • Published : 2004.03.01
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Abstract

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.

Keywords

References

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