Title
Robust fuzzy control for robot manipulators
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
ISSN
1350-2379
Recommended Citation
"Robust fuzzy control for robot manipulators" (2000). Faculty Bibliography 2000s. 2597.
https://stars.library.ucf.edu/facultybib2000/2597