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Decentralized direct adaptive fuzzy control of non-linear interconnected MIMO system class

Tlemcani A., Chekireb H., Boucherit M. S., Labiod S.

Archives of Control Sciences

2007

Vol. 17, no. 4

409-425

In this paper, we propose a decentralized direct adaptive fuzzy control method for a class interconnected MIMO non linear plant encountered mainly in robotics. The establishment of the control law introduces very simplest assumptions. Indeed, the functions incorporating the plant dynamic must be continuous and the interconnection terms are bounded by unknown bounds. The fuzzy direct adaptive law is designed to compensate for the interconnections effect and to ensure the closed-loop stability, convergence of the controlled outputs and `boundedness' of adaptation parameters. The proposed method is tested by simulation on the robot Puma 560. In this test the robot is controlled in the operational space as that the robot tip follows a prescribed curve on the sphere where the orientation of the last link (sixth) is maintained radial related to the center of this sphere.