A simple fuzzy controller for robot manipulators with bounded inputs

Publikation: Beiträge in SammelwerkenAufsätze in KonferenzbändenForschungbegutachtet

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This paper revisits the problem of global asymptotic regulation for robot manipulators with bounded inputs. A simple model-free sectorial fuzzy controller plus saturated integral action is proposed. Global asymptotic stability is proven following Lyapunov's direct method. Advantages of the proposed control are that it is fairly easy to construct with simple intuitive structure and absence of modeling parameter, and thus it is ready to implement. An additive appealing feature is that the proposed control has the abilities to protect the actuator from control effort saturation and ensure global asymptotic stability. Simulations on a two-DOF robot demonstrate the effectiveness of the proposed approach.

OriginalspracheEnglisch
Titel2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)
Anzahl der Seiten6
VerlagIEEE - Institute of Electrical and Electronics Engineers Inc.
Erscheinungsdatum21.08.2017
Seiten1737-1742
ISBN (Print)9781509059980
ISBN (elektronisch)9781509059980
DOIs
PublikationsstatusErschienen - 21.08.2017
VeranstaltungIEEE International Conference on Advanced Intelligent Mechatronics 2017 - München, Deutschland
Dauer: 03.07.201707.07.2017
Konferenznummer: 15
http://www.ieee-ras.org/component/rseventspro/event/948-aim-2017-ieee-international-conference-on-advanced-intelligent-mechatronics
http://www.ieee-ras.org/component/rseventspro/event/948-aim-2017-ieee-international-conference-on-advanced-intelligent-mechatronics

DOI

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