Hybrid adaptive fuzzy control of robot manipulators

• Main Author: Chin, Swee Hong.
• Other Authors: Er, Meng Joo
• Format: Theses and Dissertations
• Language: English
• Published: 2008
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics; DRNTU::Engineering::Computer science and engineering::Computing methodologies::Artificial intelligence
• Online Access: http://hdl.handle.net/10356/13188
• Institution: Nanyang Technological University

Detailed derivations of the Hybrid Adaptive Fuzzy Controller (HAFC) for robot manipulators are included in this thesis. This controller is a weighted combination of DAFC and IAFC together with a continuously-switched supervisory controller. The proposed controller is able to improve the performance...