期刊
IEEE TRANSACTIONS ON FUZZY SYSTEMS
卷 23, 期 3, 页码 501-510出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TFUZZ.2014.2315661
关键词
Decentralized adaptive control; fuzzy control; fuzzy logic systems; large-scale systems; robot finger
资金
- National Natural Science Foundation of China [61304003, 61203002, 61333012, 61304002, 61020106003]
- Program for New Century Excellent Talents in University [NCET-13-0696]
- National Key Technology Support Program (NKTSP) [2012BAF19G00]
- Key Laboratory of Integrated Automation for the Process Industry, Northeast University
- 111 Project [B08015, B12018]
- Australian Research Council [DP140102180]
In this paper, a novel design method for adaptive tracking control is proposed for robot finger dynamics. First, the dynamics are described by considering the robot finger as a large-scale system since it has many joints and multi-degrees of freedoms (DOFs). Second, by employing the direct adaptive fuzzy approximation method to approximate the unknown and desired control input signals instead of the unknown nonlinear functions, the number of adaptive design parameters obtained in the control design process is greatly reduced. Moreover, it is shown that the designed controller can guarantee all the signals in the closed-loop system to be semiglobally uniformly ultimately bounded. Finally, simulations are conducted on the Puma 560 robot manipulator, and the results show the effectiveness of the developed control design approach.
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