Adaptive intelligent control of robot manipulators

• Main Author: Neo, Sian Sheng.
• Other Authors: Er, Meng Joo
• Format: Theses and Dissertations
• Language: English
• Published: 2009
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• Online Access: http://hdl.handle.net/10356/19678
• Institution: Nanyang Technological University

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.