2014 | OriginalPaper | Chapter
Decentralized Adaptive Fuzzy Control Applied to a Robot Manipulator
Authors : Roberto Canto Canul, Ramon Garcia-Hernandez, Jose L. Rullan-Lara, Miguel A. Llama
Published in: Advance Trends in Soft Computing
Publisher: Springer International Publishing
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In this work it is presented the design of a decentralized adaptive fuzzy control. In this scheme it is suppose a system with unknown parameters and on-line fuzzy identifier, which uses an adaptive law to adjust the unknown parameters in order to build a model of an assumed unknown nonlinear system. The applicability of the proposed approach is illustrated via simulations by trajectory tracking control of a two degrees-of-freedom robot manipulator.