Abstrait

Direct Adaptive Control of Robot Manipulator and Magnetic Ball Suspension System

Bharat Bhushan

This paper presents an implementation of stable direct adaptive control on nonlinear systems using lyapunov function with fuzzy approach. Stable direct adaptive control law consists of an ideal control, and a sliding mode control. Sliding mode controller is used to ensure the stability of Lyapunov function. Stability of direct adaptive control law is tested on two nonlinear systems. Non linear systems analyzed are robot manipulator and magnetic ball suspension system. A computer simulation is performed on nonlinear systems by using MATLAB