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An adaptive fuzzy logic controller for robot-manipulator

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Author(s): Ho Dac Loc | Tran Thu Ha | Ngo Cao Cuong

Journal: International Journal of Advanced Robotic Systems
ISSN 1729-8806

Volume: 1;
Issue: 2;
Date: 2008;
Original page

ABSTRACT
In this paper, an adaptive fuzzy controller is designed for the robot-manipulator. The synthesized controller ensures that 1) the close-loop system is globally stable and 2) the tracking error converges to zero asymptotically and a cost function is minimized. The fuzzy controller is synthesized from a collection of IF-THEN rules. The parameters of the membership functions characterizing the linguistic terms change according to some adaptive law for the purpose of controlling a plant to track a reference trajectory. The proposed control scheme is demonstrated in a typical nonlinear plant two link manipulator. The computer simulation of control is done by the language MATLAB. The results of simulation show that the adaptipresented results are analyzed.
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