A course in fuzzy systems and control
A course in fuzzy systems and control
Robust Tracking Control of Robot Manipulators
Robust Tracking Control of Robot Manipulators
Typical Takagi--Sugeno PI and PD fuzzy controllers: analytical structures and stability analysis
Information Sciences—Informatics and Computer Science: An International Journal
A fully adaptive decentralized control of robot manipulators
Automatica (Journal of IFAC)
Decentralized adaptive fuzzy control of robot manipulators
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
The adaptive control of nonlinear systems using the Sugeno-type of fuzzy logic
IEEE Transactions on Fuzzy Systems
Robust fuzzy model-following control of robot manipulators
IEEE Transactions on Fuzzy Systems
IEEE Transactions on Fuzzy Systems
Robust tracking control of an electrically driven robot: adaptive fuzzy logic approach
IEEE Transactions on Fuzzy Systems
A precise robust fuzzy control of robots using voltage control strategy
International Journal of Automation and Computing
Type-2 fuzzy control for a flexible-joint robot using voltage control strategy
International Journal of Automation and Computing
Model-based control of a class of voltage-driven robot manipulators with non-passive dynamics
Computers and Electrical Engineering
Modeling and robust discrete LQ repetitive control of electrically driven robots
International Journal of Automation and Computing
Fine-tuning fuzzy control of robots
Journal of Intelligent & Fuzzy Systems: Applications in Engineering and Technology
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Stability analysis for fuzzy control of robot manipulators has been a serious challenging problem in literature. The theoretical difficulties are highly increased due to the complexity of both manipulator dynamics and fuzzy controller structure. This paper develops a novel robust fuzzy control approach for electrical robot manipulators using the direct method of Lyapunov. We pass analytical difficulties by the use of voltage control strategy in replace of torque control strategy. Then, a normalized and decentralized Takagi---Sugeno fuzzy controller is presented in a simple structure. A simple Lyapunov candidate is proposed to apply stability analysis without knowing the explicit dynamics of system. Consequently, fuzzy control is analyzed and designed as a robust nonlinear control. Roles of scaling factors, gains in consequent parts, and membership functions in condition parts are considered in the control design. The proposed control approach is applied on a Puma560 robot arm.