제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Two-Link Manipulator Control Using Indirect Adaptive Fuzzy Controller

  • N., Waurajitti (Faculty of Engineering and Research Center for Communications and Information Technology, King Mongkut's Institute of Technology Ladkrabang) ;
  • J., Ngamwiwit (Faculty of Engineering and Research Center for Communications and Information Technology, King Mongkut's Institute of Technology Ladkrabang) ;
  • T., Benjanarasuth (Faculty of Engineering and Research Center for Communications and Information Technology, King Mongkut's Institute of Technology Ladkrabang) ;
  • H., Hirata (School of Engineering, Tokai University) ;
  • N., Komine (School of Engineering, Tokai University)
  • Published : 2000.10.01
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Abstract

This paper proposes the MIMO indirect adaptive fuzzy controller to control the two-link manipulators. The input-output linearization technique, equivalent control input plus integral term, augmented error model and recursive least square adaptive law are used fer the controller. The linear type of fuzzifier-defuzzifier fuzzy logic system used for nonlinear function makes easy to farm the error model and able to follow the adaptive system approach. Such that control approach, the control system is not required joint speed and accerelation measurement and easy to implement and tune. The simulation results showed that the proposed controller has good control performance, stability, very small tracking error, decoupling, fast convergence, robust to parameter variation and load.

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