Real-time hybrid adaptive fuzzy control of a SCARA

M. J. Er; Y. Gao; Y. Sun

doi:10.23919/ecc.2001.7076098

Real-time hybrid adaptive fuzzy control of a SCARA

M. J. Er
, Y. Gao
, Y. Sun

Research output: Chapter in Book/Conference Proceeding/Report › Conference Paper published in a book › peer-review

Abstract

This paper presents the design, development and implementation of a Hybrid Adaptive Fuzzy Controller (HAFC) suitable for real-time industrial applications. The developed HAFC consists of a weighted combination of the Direct Adaptive Fuzzy Controller (DAFC) and Indirect Adaptive Fuzzy Controller (IAFC) and a gradually activated supervisory controller. The unique feature of the HAFC is that no mathematical model of the plant is required and the proposed controller is able to adaptively estimate the bound functions on-line, which are required for determination of the supervisory controller. The supervisor controller guarantees global stability of the closed-loop system in the sense that all signals are bounded. Simulink, an interactive graphical software for simulating dynamic systems, is used to model, simulate and analyse the dynamic system. The HAFC is implemented in real-time through Real-Time Workshop (RTW). The performance of the HAFC was found to be superior and it matches favourably the simulation results.

Original language	English
Title of host publication	2001 European Control Conference, ECC 2001
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1311-1316
Number of pages	6
ISBN (Print)	9783952417362
DOIs	https://doi.org/10.23919/ecc.2001.7076098
Publication status	Published - 27 Apr 2015
Externally published	Yes
Event	6th European Control Conference, ECC 2001 - Porto, Portugal Duration: 4 Sept 2001 → 7 Sept 2001

Publication series

Name	2001 European Control Conference, ECC 2001

Conference

Conference	6th European Control Conference, ECC 2001
Country/Territory	Portugal
City	Porto
Period	4/09/01 → 7/09/01

Bibliographical note

Publisher Copyright:
© 2001 EUCA.

Keywords

Joints
Mathematical model
Robots
Trajectory
Equations
Real-time systems
Fuzzy control

Access to Document

10.23919/ecc.2001.7076098

Cite this

@inproceedings{67eeaa2ad1f04e5eb50632df2d83c804,

title = "Real-time hybrid adaptive fuzzy control of a SCARA",

abstract = "This paper presents the design, development and implementation of a Hybrid Adaptive Fuzzy Controller (HAFC) suitable for real-time industrial applications. The developed HAFC consists of a weighted combination of the Direct Adaptive Fuzzy Controller (DAFC) and Indirect Adaptive Fuzzy Controller (IAFC) and a gradually activated supervisory controller. The unique feature of the HAFC is that no mathematical model of the plant is required and the proposed controller is able to adaptively estimate the bound functions on-line, which are required for determination of the supervisory controller. The supervisor controller guarantees global stability of the closed-loop system in the sense that all signals are bounded. Simulink, an interactive graphical software for simulating dynamic systems, is used to model, simulate and analyse the dynamic system. The HAFC is implemented in real-time through Real-Time Workshop (RTW). The performance of the HAFC was found to be superior and it matches favourably the simulation results.",

keywords = "Joints, Mathematical model, Robots, Trajectory, Equations, Real-time systems, Fuzzy control",

author = "Er, \{M. J.\} and Y. Gao and Y. Sun",

note = "Publisher Copyright: {\textcopyright} 2001 EUCA.; 6th European Control Conference, ECC 2001 ; Conference date: 04-09-2001 Through 07-09-2001",

year = "2015",

month = apr,

day = "27",

doi = "10.23919/ecc.2001.7076098",

language = "English",

isbn = "9783952417362",

series = "2001 European Control Conference, ECC 2001",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1311--1316",

booktitle = "2001 European Control Conference, ECC 2001",

}

Real-time hybrid adaptive fuzzy control of a SCARA. / Er, M. J.; Gao, Y.; Sun, Y.
2001 European Control Conference, ECC 2001. Institute of Electrical and Electronics Engineers Inc., 2015. p. 1311-1316 7076098 (2001 European Control Conference, ECC 2001).

Research output: Chapter in Book/Conference Proceeding/Report › Conference Paper published in a book › peer-review

TY - GEN

T1 - Real-time hybrid adaptive fuzzy control of a SCARA

AU - Er, M. J.

AU - Gao, Y.

AU - Sun, Y.

PY - 2015/4/27

Y1 - 2015/4/27

N2 - This paper presents the design, development and implementation of a Hybrid Adaptive Fuzzy Controller (HAFC) suitable for real-time industrial applications. The developed HAFC consists of a weighted combination of the Direct Adaptive Fuzzy Controller (DAFC) and Indirect Adaptive Fuzzy Controller (IAFC) and a gradually activated supervisory controller. The unique feature of the HAFC is that no mathematical model of the plant is required and the proposed controller is able to adaptively estimate the bound functions on-line, which are required for determination of the supervisory controller. The supervisor controller guarantees global stability of the closed-loop system in the sense that all signals are bounded. Simulink, an interactive graphical software for simulating dynamic systems, is used to model, simulate and analyse the dynamic system. The HAFC is implemented in real-time through Real-Time Workshop (RTW). The performance of the HAFC was found to be superior and it matches favourably the simulation results.

AB - This paper presents the design, development and implementation of a Hybrid Adaptive Fuzzy Controller (HAFC) suitable for real-time industrial applications. The developed HAFC consists of a weighted combination of the Direct Adaptive Fuzzy Controller (DAFC) and Indirect Adaptive Fuzzy Controller (IAFC) and a gradually activated supervisory controller. The unique feature of the HAFC is that no mathematical model of the plant is required and the proposed controller is able to adaptively estimate the bound functions on-line, which are required for determination of the supervisory controller. The supervisor controller guarantees global stability of the closed-loop system in the sense that all signals are bounded. Simulink, an interactive graphical software for simulating dynamic systems, is used to model, simulate and analyse the dynamic system. The HAFC is implemented in real-time through Real-Time Workshop (RTW). The performance of the HAFC was found to be superior and it matches favourably the simulation results.

KW - Joints

KW - Mathematical model

KW - Robots

KW - Trajectory

KW - Equations

KW - Real-time systems

KW - Fuzzy control

UR - https://openalex.org/W1589689075

U2 - 10.23919/ecc.2001.7076098

DO - 10.23919/ecc.2001.7076098

M3 - Conference Paper published in a book

SN - 9783952417362

T3 - 2001 European Control Conference, ECC 2001

SP - 1311

EP - 1316

BT - 2001 European Control Conference, ECC 2001

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 6th European Control Conference, ECC 2001

Y2 - 4 September 2001 through 7 September 2001

ER -

Real-time hybrid adaptive fuzzy control of a SCARA

Abstract

Publication series

Conference

Bibliographical note

Keywords

Access to Document

Other files and links

Fingerprint

Cite this