Robust fuzzy control for robot manipulators

    Authors

    C. Ham; Z. Qu;R. Johnson

    Abbreviated Journal Title

    IEE Proc.-Control Theory Appl.

    Keywords

    SYSTEMS; Automation & Control Systems; Engineering, Electrical & Electronic; Instruments & Instrumentation

    Abstract

    A robust fuzzy control is developed for robot manipulators to guarantee both global stability and performance. Robot dynamics under consideration may include large nonlinear uncertainties, such as nonlinear load variations and unmodelled dynamics. Fuzzy sets are chosen based on performance requirements and stability regions of the control system. For each fuzzy set, a sub-control is designed, based on nonlinear robust control design using Lyapunov's direct method; this is blended with others into a final fuzzy control. The resulting control provides not only robust and global stability, but also more accurate control performance than fuzzy controls obtained from constant sub-controls. The proposed design is applied to a robot trajectory control problem and compared with a standard nonlinear robust controller. The simulation results show that the proposed control is effective and yields superior tracking performance.

    Journal Title

    Iee Proceedings-Control Theory and Applications

    Volume

    147

    Issue/Number

    2

    Publication Date

    1-1-2000

    Document Type

    Article

    Language

    English

    First Page

    212

    Last Page

    216

    WOS Identifier

    WOS:000087176200011

    ISSN

    1350-2379

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