Observer-based adaptive control of robot manipulators: Fuzzy systems approach
Applied Soft Computing
An intelligent robust tracking control for electrically-driven robot systems
International Journal of Systems Science
Hierarchical fuzzy controllers for an astronomical telescope tracking
Applied Soft Computing
H∞ reinforcement learning control of robot manipulators using fuzzy wavelet networks
Fuzzy Sets and Systems
An Algebraic Approach for Accurate Motion Control of Humanoid Robot Joints
ICIRA '09 Proceedings of the 2nd International Conference on Intelligent Robotics and Applications
IJCNN'09 Proceedings of the 2009 international joint conference on Neural Networks
A computed torque controller for uncertain robotic manipulator systems: Fuzzy approach
Fuzzy Sets and Systems
IEEE Transactions on Fuzzy Systems
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A robust tracking control design of robot systems including motor dynamics with parameter perturbation and external disturbance is proposed in this study via adaptive fuzzy cancellation technique. A minimax controller equipped with a fuzzy-based scheme is used to enhance the tracking performance in spite of system uncertainties and external disturbance. The design procedure is divided into three steps. At first, a linear nominal robotic control design is obtained via model reference tracking with desired eigenvalue assignment. Next, a fuzzy logic system is constructed and then tuned to eliminate the nonlinear uncertainties as possibly as it can to enhance the tracking robustness. Finally, a minimax control scheme is specified to optimally attenuate the worst-case effect of both the residue due to fuzzy cancellation and external disturbance to achieve a minimax tracking performance. In addition, an adaptive fuzzy-based dynamic game theory is introduced to solve the minimax tracking problem. The proposed method is appropriate for the robust tracking design of robotic systems with large parameter perturbation and external disturbance. A simulation example of a two-link robotic manipulator driven by DC motors is also given to demonstrate the effectiveness of proposed design method's tracking performance