A simple fuzzy controller for robot manipulators with bounded inputs

Research output: Contributions to collected editions/worksArticle in conference proceedingsResearchpeer-review

Authors

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.

Original languageEnglish
Title of host publication2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)
Number of pages6
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Publication date21.08.2017
Pages1737-1742
ISBN (print)9781509059980
ISBN (electronic)9781509059980
DOIs
Publication statusPublished - 21.08.2017
EventIEEE International Conference on Advanced Intelligent Mechatronics 2017 - München, Germany
Duration: 03.07.201707.07.2017
Conference number: 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

    Research areas

  • Engineering - Asymptotic stability, Controllers, Flexible manipulators, Industrial robots, Intelligent mechatronics, Modular robots, Robot applications, Robots

DOI

Recently viewed

Activities

  1. What we know about conceptual learning in open inquiry settings in science education
  2. Towards a fully-automated adaptive e-learning environment: A predictive model for difficulty generating factors in gap-filling activities that target English tense-aspect-mood
  3. The Relation of Children's Performances in Spatial Tasks at Two Different Scales of Space
  4. ‘Thinking the Problematic‘
  5. Lecture and Workshop on media-based presentations and music-marketing
  6. Project-based and other activating strategies and issues of science education - PBE 2021
  7. A Dissociation between Two Classes of Spatial Abilities in Elementary School Children
  8. Ars Electronica
  9. Predicting negotiation success with a multitude of negotiators’ inter-individual differences—a latent personality model of the successful negotiator
  10. The relationship between intragenerational and intergenerational justice in the use of ecosystems and their services
  11. Panel Cointegration Testing with Time Trend and Analysis of Money Demand in OECD Countries
  12. Democratic Myopia and Future Generations: On Institutional Innovations, their Impact Potential, and the Challenges of their Institutionalization
  13. Who is involved? : Integrating Corporate Functions into Sustainability Management
  14. Fast or sustainable fashion? - The intersection of values and gender as triggers of consumer motivation
  15. International Federation for Information Processing (ifip) (Externe Organisation)
  16. Moderator im Panel „Dimensions of learning for a degrowth society”
  17. Journal of Management Studies Paper Development Workshop - JMS 2015
  18. Stories of a journey: tracing traditional knowledge associated to orphan crops across agrifood circuits in Bogota
  19. Academy of Management (Externe Organisation)
  20. Fracking comes to Germany: Interpreting societal conflicts, the politics of expertise and strategies for conflict resolution in a federal system: with Basil Bornemann
  21. The Rhetoric of Disillusionment. Discursive Shifts in the Rhetoric of "There is no alternative"
  22. It’s hard to part with gains, but what about losses. Contribution and Distribution of Benefits and Burdens in Integrative Negotiations
  23. Amplifying the Impact of Local Inititatives in Sustainability Transformations - A pragmatic Typology

Publications

  1. Top-down contingent attentional capture during feed-forward visual processing
  2. Some model properties to control a permanent magnet machine using a controlled invariant subspace
  3. Polar Coordinates and Interactive Learning
  4. Erratum to "Generic functions of railway stations-A conceptual basis for the development of common system understanding and assessment criteria" [Transp. Policy 18 (2010) 446-455]
  5. Temperature control in Peltier cells comparing sliding mode control and PID controllers
  6. Performance of methods to select landscape metrics for modelling species richness
  7. Efficacy of a web-based intervention with and without guidance for employees with risky drinking
  8. Influence of three different unstable shoe constructions on EMG-activity during treadmill walking
  9. Entity linking in 40 languages using MAG
  10. Plant density modifies root system architecture in spring barley (Hordeum vulgare L.) through a change in nodal root number
  11. A Model Based Feedforward Regulator Improving PI Control of an Ice-Clamping Device Activated by Thermoelectric Cooler
  12. Sustainability performance measurement – a framework for context-specific applications
  13. A single PD plus gravity compensation control for global asymptotic regulation of robot manipulators with actuator constraints
  14. Integrating business models and enterprise architecture
  15. Understanding Similarities and Differences of Digital Health Platforms
  16. Performance Saga: Interview 05
  17. How to Communicate Science to the Public?
  18. Digital game culture(s) as prototype(s) of mediatization and commercialization of society
  19. Question Answering Mediated by Visual Clues and Knowledge Graphs
  20. Theorizing path dependence
  21. Latent trees for coreference resolution
  22. Machine vision system for UAV navigation
  23. Inventory of biodegradation data of ionic liquids
  24. Operations Management
  25. Evaluating Introductory Lectures in Entrepreneurship
  26. Explaining Age and Gender Differences in Employment Rates