Adaptive fuzzy systems and control: design and stability analysis
Adaptive fuzzy systems and control: design and stability analysis
Robot Vision
Fuzzy Control
A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
Trajectory Tracking with Parallel Robots Using Low Chattering, Fuzzy Sliding Mode Controller
Journal of Intelligent and Robotic Systems
An adaptive fuzzy controller based on sliding mode for robotmanipulators
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Adaptive control of robot manipulator using fuzzy compensator
IEEE Transactions on Fuzzy Systems
Visual Control of Planar Parallel Robots Without Using Velocity Measurements
Journal of Intelligent and Robotic Systems
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The position regulation problem of an eye-in-hand type of parallel robot based pointing systems (PRBPS) is considered in this paper. A fuzzy logic system is first designed to compensate for the uncertainties of the parallel robot and the uncertainty of the image Jacobian, then a hybrid controller (HC) including the image-based nonlinear controller and the adaptive supervisory fuzzy logic controller (ASFLC) is derived by using the Lyapunov direct method to realize the position regulation (PR). The stability of the closed-loop system in the Lyapunov sense is proven theoretically. The fuzzy scaling matrix is combined with the HC to improve the performance of the control system. The simulation results demonstrate that the PRBPS realizes PR with very good robustness to the parameter uncertainties, and the control input torques and settling time are reduce greatly in the case of large initial feature errors.