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https://hdl.handle.net/10356/13188
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DC Field | Value | Language |
---|---|---|
dc.contributor.author | Chin, Swee Hong. | en_US |
dc.date.accessioned | 2008-08-28T07:23:30Z | en_US |
dc.date.accessioned | 2008-10-20T07:18:02Z | - |
dc.date.available | 2008-08-28T07:23:30Z | en_US |
dc.date.available | 2008-10-20T07:18:02Z | - |
dc.date.copyright | 1998 | en_US |
dc.date.issued | 1998 | en_US |
dc.identifier.uri | http://hdl.handle.net/10356/13188 | - |
dc.description.abstract | Detailed derivations of the Hybrid Adaptive Fuzzy Controller (HAFC) for robot manipulators are included in this thesis. This controller is a weighted combination of DAFC and IAFC together with a continuously-switched supervisory controller. The proposed controller is able to improve the performance of the system in an iterative manner by learning or adapting from the tracking errors that result from previous attempts at achieving the desired motion. In particular, the controller not only does not require the exact mathematical model of the manipulator, but also the boundary of the unknown dynamics can be adaptively estimated on-line. | en_US |
dc.format.extent | 127 p. | en_US |
dc.language.iso | en | en_US |
dc.subject | DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics | en_US |
dc.subject | DRNTU::Engineering::Computer science and engineering::Computing methodologies::Artificial intelligence | en_US |
dc.title | Hybrid adaptive fuzzy control of robot manipulators | en_US |
dc.type | Thesis | en_US |
dc.contributor.supervisor | Er, Meng Joo | en_US |
dc.contributor.school | School of Electrical and Electronic Engineering | en_US |
dc.description.degree | Master of Engineering | en_US |
item.fulltext | With Fulltext | - |
item.grantfulltext | restricted | - |
Appears in Collections: | EEE Theses |
Files in This Item:
File | Description | Size | Format | |
---|---|---|---|---|
ChinSweeHong1998.pdf Restricted Access | Main report | 12 MB | Adobe PDF | View/Open |
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