Fuzzy adaptive control of multivariable nonlinear systems
Fuzzy Sets and Systems
Tracking control of a manipulator under uncertainty by FUZZY P+ID controller
Fuzzy Sets and Systems
Robust fuzzy logic control of mechanical systems
Fuzzy Sets and Systems - Theme: Fuzzy control
Neuro-fuzzy adaptive control based on dynamic inversion for robotic manipulators
Fuzzy Sets and Systems - Special issue: Fuzzy set techniques for intelligent robotic systems
A reinforcement learning adaptive fuzzy controller for robots
Fuzzy Sets and Systems - Theme: Modeling and control
Fuzzy controller for a sensor guided robot manipulator
Fuzzy Sets and Systems
A robust fuzzy logic controller for robot manipulators with uncertainties
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Adaptive control of robot manipulator using fuzzy compensator
IEEE Transactions on Fuzzy Systems
Robust fuzzy model-following control of robot manipulators
IEEE Transactions on Fuzzy Systems
Fuzzy model reference adaptive control
IEEE Transactions on Fuzzy Systems
Brief Robust neural control for robotic manipulators
Automatica (Journal of IFAC)
Brief Intelligent optimal control of robotic manipulators using neural networks
Automatica (Journal of IFAC)
Fuzzy basis functions, universal approximation, and orthogonal least-squares learning
IEEE Transactions on Neural Networks
Fuzzy Controller for Robot Manipulators
IFSA '07 Proceedings of the 12th international Fuzzy Systems Association world congress on Foundations of Fuzzy Logic and Soft Computing
Intelligent hybrid control strategy for trajectory tracking of robot manipulators
Journal of Control Science and Engineering
Expert Systems with Applications: An International Journal
Adaptive fuzzy controller for non-affine systems with zero dynamics
International Journal of Systems Science
A computed torque controller for uncertain robotic manipulator systems: Fuzzy approach
Fuzzy Sets and Systems
Adaptive fuzzy logic based control of induction motors
Control and Intelligent Systems
New robust-adaptive algorithm for tracking control of robot manipulators
International Journal of Robotics and Automation
Information Sciences: an International Journal
Adaptive fuzzy control for differentially flat MIMO nonlinear dynamical systems
Integrated Computer-Aided Engineering
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In this paper, a stable fuzzy adaptive controller for trajectory tracking is developed for robot manipulators without velocity measurements, taking into account the actuator constraints. The controller is based on structural knowledge of the dynamics of the robot and measurements of link positions only. The gravity torque including system uncertainty like payload variation, etc., is estimated by a fuzzy logic system (FLS). The adaptive controller represents an amalgamation of a filtering technique to eliminate velocity measurements and the theory of function approximation using FLS to estimate the gravity torque. The proposed controller ensures the local asymptotic stability and the convergence of the position error to zero. The proposed controller is robust not only to structured uncertainty such as payload parameter variation, but also to unstructured one such as disturbances. The validity of the control scheme is shown by simulations on a two-link robot manipulator.