Application of a general learning algorithm to the control of robotic manipulators
International Journal of Robotics Research
Experimental evaluation of nonlinear feedback and feedforward control schemes for manipulators
International Journal of Robotics Research
Adaptive computed torque control for rigid link manipulators
Systems & Control Letters
Indirect adaptive fuzzy sliding mode control: Part I: fuzzy switching
Fuzzy Sets and Systems
Robot Dynamics and Control
Adaptive control of robot manipulators using fuzzy logic systems under actuator constraints
Fuzzy Sets and Systems
A robust fuzzy logic controller for robot manipulators with uncertainties
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
An adaptive fuzzy controller based on sliding mode for robotmanipulators
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
A fuzzy adaptive variable structure controller with applications torobot manipulators
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
IEEE Transactions on Fuzzy Systems
Stable adaptive fuzzy control of nonlinear systems
IEEE Transactions on Fuzzy Systems
Neural network-based adaptive controller design of robotic manipulators with an observer
IEEE Transactions on Neural Networks
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
IJCNN'09 Proceedings of the 2009 international joint conference on Neural Networks
Performance analysis of fractional order fuzzy PID controllers applied to a robotic manipulator
Expert Systems with Applications: An International Journal
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Computed Torque Control (CTC) is an effective motion control strategy for robotic manipulator systems, which can ensure globally asymptotic stability. However, CTC scheme requires precise dynamical models of robotic manipulators. To handle this impossibility, in this paper, a new approach combing CTC and Fuzzy Control (FC) is developed for trajectory tracking problems of robotic manipulators with structured uncertainty and/or unstructured uncertainty. Fuzzy part with a set of tunable parameters is employed to approximate lumped uncertainty due to parameters variations, unmodeled dynamics and so on in robotic manipulators. Based on Lyapunov stability theorem, it is shown that the proposed controller can guarantee stability of closed-loop systems and satisfactory tracking performances. The proposed approach indicates that CTC method is also valid for controlling uncertain robotic manipulators as long as compensative controller is appropriately designed. Finally, computer simulation results on a two-link elbow planar robotic manipulator are presented to show tracking capability and effectiveness of the proposed scheme.