الفهرس يوجد فقط 14 صفحة متاحة للعرض العام
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المستخلص
Conventional model based control system have been found lo be inefficient in handling some systems. Such systems are either too complex or loo vague lo be described by accurate mathematical models Some difficult issues related to these systems arc inertia, momentum. friction, damping. oscillations. nonlinearities. and complex structure. dc Robot control is one of the industrial applications that has many such problems, which calls for more flexible strategies as adaptive fuzzy controller. An adaptive controller is a controller that can modify its behavior in Response to changes in the dynamics of the process. An adaptive fuzzy system is a furzy logic system equipped with a training algorithm. where the fuzzy logic system is contracted from a collection of fuzzy rules, and the training algorithm adjusts the parameters of fuzzy system based on numerical input-output pairs. The adaptive fuzzy control problem is then to find a method of adjusting the fuzzy rule-base parameters for the controller when the characteristics of the process and its environment arc unknown or changing In this thesis. some training algorithms for adaptive fuzzy system ore presented (the heck-propagation training algorithm, the orthogonal least squares training algorithm, the lookup-table training algorithm and the clustering-based training algorithm), so that the plant would (rack a desired reference trajectory Two of the proposed adaptive fuzzy systems are succcssfuIIy used as a controller for the robot arm trajectory tracking control problem They are used as function approxiniators for nonlinear and uncertain robot.