Robust robot control enhanced by a hierarchical adaptive fuzzy algorithm

Engineering Applications of Artificial Intelligence

Volumn 17, Issue 2, 2004, Pages 187-198

  Emara, Hassan ^a   Elshafei, Abdel Latif ^a  

^a CAIRO UNIVERSITY   (Egypt)

Author keywords

Fuzzy; Hierarchical; Minimax techniques; Robot arms; Tracking

Indexed keywords

ADAPTIVE SYSTEMS; ALGORITHMS; COMPUTER SIMULATION; CONTROL EQUIPMENT; CONTROL NONLINEARITIES; CONTROL SYSTEMS; FEEDBACK; FUZZY CONTROL; HIERARCHICAL SYSTEMS; MANIPULATORS; PARAMETER ESTIMATION; ROBOTIC ARMS; ROBUSTNESS (CONTROL SYSTEMS);

DESIGN PARAMETERS; FUZZY ALGORITHMS; MINIMAX TECHNIQUES; TRACKING;

ROBOTS;

EID: 2042510996     PISSN: 09521976     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.engappai.2004.02.005     Document Type: Article

References (17)

1. Abdallah C., Dawson C., Dorato P., Jamshidi M. Survey of roboust control of rigid body. IEEE Control Systems Magazine. 11:1991;24-30.
2. ∞ control design in robotic systems under parameter perturbation and external disturbance International Journal of Control. 59(2):1994;439-461.
3. Chen B.S., Uang H., Tseng C. Robust tracking enhancement of robot systems including motor dynamics. a fuzzy-based dynamic game approach IEEE Transactions on Fuzzy Systems. 6(4):1998;538-552.
4. Emara H., Elshafei A. Comments on Robust tracking enhancement of robot systems including motor dynamics. a fuzzy-based dynamic game approach IEEE Transactions on Fuzzy Systems. 10(3):2002;412-414.
5. Lee C. Fuzzy logic in control systems. fuzzy logic controller, Part I IEEE Transactions on Systems, Man and Cybernetics. 20(2):1990;404-418.
6. Lee C. Fuzzy logic in control systems. fuzzy logic controller, Part II IEEE Transactions on Systems, Man and Cybernetics. 20(2):1990;419-435.
7. Raju G.V.S., Zhou J. Adaptive hierarchical fuzzy controller. IEEE Transactions on Systems, Man and Cybernetics. 23(4):1993;973-980.
8. Raju G.V.S., Zhou J., Kisner R.A. Hierarchical fuzzy control. International Journal of Control. 54(5):1991;1201-1216.
9. Rattasiri W., Halgamuge S. Computationally advantageous and stable hierarchical fuzzy systems for active suspension. IEEE Transactions on Industrial Electronics. 50:2003;48-61.
10. Slotine J.J., Li W. Applied Nonlinear Control. 1991;Prentice-Hall, Englewood Cliffs, NJ.
11. Spong M.W., Vidyasagar M. Robots Dynamics and Control. 1989;Wiley, New York.
12. Sun F.C., Sun Z.Q., Zhang R.J., Chen Y.B. Neural adaptive tracking controller for robot manipulators with unknown dynamics. IEE Proceedings Control Theory and Applications. 147:2000;366-370.
13. Tarn T.J., Bejcay A.K., Yun X., Li Z. Effect of motor dynamics on nonlinear feedback robot arm control. IEEE Transactions on Robotics and Automation. 7:1991;114-122.
14. Wang L. Adaptive Fuzzy Systems and Control: Design and Stability Analysis. 1994;Prentice-Hall, Englewood Cliffs, NJ.
15. Wang L.X. Analysis and design of hierarchical fuzzy systems. IEEE Transactions on Fuzzy Systems. 7(5):1999;617-624.
16. ∞ tracking-based sliding mode control for uncertain nonlinear systems via an adaptive fuzzy-neural approach IEEE Transactions on Systems, Man and Cybernetics - Part B. 32:2002;483-492.
17. Zhou, J., Doyle, 1998. Essentials of Robust Control. Prentice-Hall, Englewood Cliffs, NJ.