Adaptive tuning of the fuzzy controller for robots |
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Authors: | Sheng-De Wang Chuan-Kai Lin |
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Institution: | EE Building, Room 441, Department of Electrical Engineering, National Taiwan University, 1 Roosevelt Rd., Sec. 4, Taipei 106, Taiwan |
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Abstract: | An adaptive tuning algorithm of the fuzzy controller is developed for a class of serial-link robot arms. The algorithm can on-line tune parameters of premise and consequence parts of fuzzy rules of the fuzzy basis function (FBF) controller. The main part of the fuzzy controller is a fuzzy basis function network to approximate unknown rigid serial-link robot dynamics. Under some mild assumptions, a stability analysis guarantees that both tracking errors and parameter estimate errors are bounded. Moreover, a robust technique is adopted to deal with uncertainties including approximation errors and external disturbances. Simulations of the proposed controller on the PUMA-560 robot arm demonstrate the effectiveness. |
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