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A parameter estimation scheme with an appropriate adaptive law for updating the parameters is designed and analyzed based on the Lyapunov theory for the general MIMO Takagi-Sugeno (T-S) fuzzy models. The parameters of the Takagi-Sugeno fuzzy models can be estimated by observing the behavior of the system and with the online parameter estimator, any type of(More)
I. Intro duc tio n 1) Control systems are increasingly required to have high dynamical performance and robust behaviors, yet are expected to cope with more complex, uncertain and highly nonlinear dynamic processes. Along this increased process complexity is increased abstraction and uncertainty in the models and their mathematical representation. One(More)
For force control of robot and collision detection with humans, robots that has joint torque sensors have been developed. However, existing torque sensors cannot measure correct torque because of crosstalk error. In order to solve this problem, we proposed a novel torque sensor that can measure the pure torque without crosstalk. The hexaform of the proposed(More)