An intelligent robust tracking control for electrically-driven robot systems

Kun Shan University Institutional Repository > 教學單位 > 工程學院 > 電機工程系所 > 期刊論文 > Item 987654321/3800

Please use this identifier to cite or link to this item: http://ir.lib.ksu.edu.tw/handle/987654321/3800

Title:	An intelligent robust tracking control for electrically-driven robot systems
Authors:	CHANGYeong-Chan (張永昌) YENHUI-MIN WUMING-FANG
Keywords:	Robust tracking design Intelligent adaptive control Electrically-driven robots
Date:	2009-02-27
Issue Date:	2009-08-15 19:45:18 (UTC+8)
Abstract:	This article addresses the problem of designing intelligent robust tracking controls of robotsystems actuated by brushed direct current motors. The structures of both mechanical andelectrical dynamics are allowed to be completely unknown and adaptive fuzzy (or neuralnetwork) systems are employed to approximate these two uncertainties. Consequently, anadaptive fuzzy-based (or neural network-based) state feedback tracking controller isdeveloped such that the resulting closed-loop system guarantees that all the states and signalsare bounded and the tracking error can be made as small as possible. Finally, simulationexamples are made to demonstrate the effectiveness and tracking performance.
Relation:	International Journal of Systems Science Vol. 39, No. 5, May 2008, 497–511
Appears in Collections:	[電機工程系所] 期刊論文

Files in This Item:

File	Description	Size	Format
張永昌-IJSS.pdf		388Kb	Adobe PDF	64	View/Open