| Title |
Design of Adaptive Controller using Switching Mode with Fuzzy Inference and its application for Industry Automation Facility |
| Abstract |
This paper deals with the tracking control problem of industrial robotic manipulators with unknown or changing dynamics. The proposed method makes use of multiple models and switching mechanism by fuzzy inference of the manipulator in an indirect adaptive controller architecture. The models used for the indentification of the manipulator are identical, except for the initial estimates of the unknown inertial parameters of the manipulator and its load. The torque input that is applied to the joint actuators is determined at every instant by the identification mode that best approximates the robot dynamics. Simulation results are also included to demonstrate the improvement in the tracking performance when the proposed method is used. |