Indirect Adaptive Control of Robot Manipulator and Magnetic Ball Suspension System
Associate Professor, Dept. of Electrical Engineering, Delhi Technological University, Delhi, India
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This paper shows implementation of indirect adaptive control law for nonlinear systems using Takagi- Sugeno fuzzy system. Takagi-Sugeno fuzzy system is used to identify nonlinear system components theta alpha and theta beta. Stable Indirect Adaptive control law is such that it has two control components one is certainty equivalence control and other is sliding mode control. Sliding mode controller is used to ensure the stability of Lyapunov Function. Stability of adaptive control law is tested on two nonlinear systems Robot manipulator with the inclusion of DC motor dynamics and magnetic ball suspension system. Simulation is performed on nonlinear systems using MATLAB.