Adaptive Control for Uncertain Nonlinear Systems based on Fuzzy Logic

Adaptive Control for Uncertain Nonlinear Systems based on Fuzzy Logic
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© 2023 by IJETT Journal
Volume-71 Issue-5
Year of Publication : 2023
Author : Vu Ngoc Dan, To Van Binh
DOI : 10.14445/22315381/IJETT-V71I5P228

How to Cite?

Vu Ngoc Dan, To Van Binh, "Adaptive Control for Uncertain Nonlinear Systems based on Fuzzy Logic ," International Journal of Engineering Trends and Technology, vol. 71, no. 5, pp. 266-271, 2023. Crossref, https://doi.org/10.14445/22315381/IJETT-V71I5P228

Abstract
Nowadays, robot manipulators are applied a lot in practice, it gradually replaces humans to perform boring, repetitive or life-threatening toxic environments. However, the robot is an uncertain nonlinear object, so it is difficult to model accurately, so it is not easy to control the robot to work stably. This paper presents an adaptive control method for uncertain nonlinear systems based on fuzzy logic. The controller is applied to control the robot manipulator to operate accurately, ensuring stability and good quality during the robot's work. The stability of the whole system is rigorously proven mathematically based on the Lyapunov theory. Finally, the simulation results of the robot manipulator system on Matlab-Simuink software show the effectiveness of the proposed method.

Keywords
Robot manipulator, Adaptive control, Fuzzy logic, Nonlinear systems, Uncertainty model.

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