A fuzzy adaptive variable structure controller with applications to robot manipulators.
A new adaptive fuzzy control algorithm is developed in this paper, which has a regular fuzzy controller and a supervisory control term. This control algorithm does not require the system model, but has stability assurance for the closed-loop controlled system. The design is simple, in the sense that both the membership functions and the rule base are simple, yet generic. It can be applied to a large class of robotic and other mechanical systems.
Hsu
Y C
YC
Dept. of Electr. & Comput. Eng., Houston Univ., TX.
Chen
G
G
Li
H X
HX