Adaptive intelligent control of robot manipulators

Two adaptive fuzzy controllers for robot manipulators are proposed and derived in this thesis. These controllers employ algorithms which improve the performance of the system in an iterative manner by learning or adapting from the tracking errors that result from previous attempts at achieving the d...

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Bibliographic Details
Main Author: Neo, Sian Sheng.
Other Authors: Er, Meng Joo
Format: Theses and Dissertations
Language:English
Published: 2009
Subjects:
Online Access:http://hdl.handle.net/10356/19678
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Institution: Nanyang Technological University
Language: English
Description
Summary:Two adaptive fuzzy controllers for robot manipulators are proposed and derived in this thesis. These controllers employ algorithms which improve the performance of the system in an iterative manner by learning or adapting from the tracking errors that result from previous attempts at achieving the desired motion. In particular, these controllers do not require the exact mathematical model of the manipulator, but only the boundary of the dynamics which is easily determined given the desired trajectories.