A new fuzzy adaptive controller using a robust property of fuzzy controller

A fuzzy adaptive controller which is able to solve the problems of classical adaptive controllers and conventional fuzzy adaptive controller is suggested. The architecture of a fuzzy adaptive controller using the robust property of a fuzzy controller is explained. A design procedure which can be carried out mathematically and systematically from the model of an objective system is suggested, and related mathematical theorems and their proofs are also given. The performance of the proposed adaptive control algorithm is analyzed through a DC motor control simulation and experiments on a compliant robot system.

Authors

• S. W. Kim
• Euntai Kim
• Mignon Park

Keywords

• Fuzzy control
• Programmable control
• Adaptive control
• Robust control
• Mathematical model
• Control system analysis
• Performance analysis
• Algorithm design and analysis
• DC motors
• Analytical models
• Adaptive Fuzzy Control
• Adaptive Fuzzy
• Design Procedure
• Robotic System
• DC Motor
• Linear Model
• Computation Time
• Control Method
• Actuator
• Rule-based
• Adaptive Method
• Parameter Uncertainty
• Membership Function
• Lookup Table
• Practical Situations
• Systematic Uncertainties
• Fuzzy System
• Fuzzy Control Method
• Adaptive Control Method
• Adaptive Scheme
• Robust Stability
• Short Processing Time
• Ease Of Design
• Fuzzy Method