TY - CHAP

T1 - A simple fuzzy controller for robot manipulators with bounded inputs

AU - Zheng, Chunhong

AU - Su, Yuxin

AU - Mercorelli, Paolo

N1 - Conference code: 15

PY - 2017/8/21

Y1 - 2017/8/21

N2 - 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.

AB - 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.

KW - Engineering

KW - Asymptotic stability

KW - Controllers

KW - Flexible manipulators

KW - Industrial robots

KW - Intelligent mechatronics

KW - Modular robots

KW - Robot applications

KW - Robots

UR - http://www.scopus.com/inward/record.url?scp=85028752137&partnerID=8YFLogxK

UR - https://www.mendeley.com/catalogue/459ff4bc-7b7c-3476-bfef-aa5c28e8c163/

U2 - 10.1109/AIM.2017.8014269

DO - 10.1109/AIM.2017.8014269

M3 - Article in conference proceedings

AN - SCOPUS:85028752137

SN - 9781509059980

SP - 1737

EP - 1742

BT - 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)

PB - IEEE - Institute of Electrical and Electronics Engineers Inc.

T2 - IEEE International Conference on Advanced Intelligent Mechatronics 2017

Y2 - 3 July 2017 through 7 July 2017

ER -