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http://dx.doi.org/10.5391/JKIIS.2005.15.3.318

Intelligent Digital Control of a Single Link Flexible-Joint Robot with Uncertainties  

Jang Kwon Kyu (군산대 학교 전 자정 보공학부)
Joo Young Hoon (군산대 학교 전 자정 보공학부)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.15, no.3, 2005 , pp. 318-323 More about this Journal
Abstract
In this paper, we propose a systematic method of a fuzzy-model-based controller for continuous-time nonlinear dynamical systems which may contain uncertainties. The continuous-time uncertain TS fuzzy model is first constructed to represent the uncertain nonlinear system. A parallel distributed compensation (PDC) technique is then used to design a fuzzy model based controller for both stabilization and tracking. Finally, the designed continuous-time controller is converted to an equivalent discrete-time controller by using an intelligent digital redesign method. This new design technique provides a systematic and effective framework for integration of the fuzzy model based control theory and the advanced digital redesign technique for nonlinear dynamical systems with uncertainties. Finally, the single link flexible-joint robot arm is used as an illustrative example to show the effectiveness and the feasibility of the developed design method.
Keywords
TS fuzzy model; fuzzy-model-based controller; Intelligent digital redesign;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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