An intelligent robust tracking control for electrically-driven robot systems
International Journal of Systems Science
Fuzzy adaptive backstepping robust control for SISO nonlinear system with dynamic uncertainties
Information Sciences: an International Journal
Adaptive Backstepping Fuzzy Control for a Class of Nonlinear Systems
ISNN 2009 Proceedings of the 6th International Symposium on Neural Networks: Advances in Neural Networks - Part II
IEEE Transactions on Fuzzy Systems
Robust Fuzzy Control of Electrical Manipulators
Journal of Intelligent and Robotic Systems
Fuzzy disturbance-observer based control of electrically driven free-floating space manipulator
ISNN'11 Proceedings of the 8th international conference on Advances in neural networks - Volume Part III
Computers & Mathematics with Applications
Information Sciences: an International Journal
A precise robust fuzzy control of robots using voltage control strategy
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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This paper is concerned with the robust tracking control of an electrically driven robot with the model uncertainties in the robot dynamics and the motor dynamics. The motors driving the joints of the robot are assumed to be equipped with only the joint position and the current measurement devices. Adaptive fuzzy logic and adaptive backstepping method are employed to provide the solution to the control problem. The suggested method does not require the measurement of the velocity nor the acceleration. Simulation results from a two-link electrically driven robot show the satisfactory performance of the proposed control scheme even in the presence of internal model uncertainties in both the robot and motor dynamics and external disturbances