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A simple fuzzy controller for robot manipulators with bounded inputs

Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-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: 03.07.2017 → 07.07.2017
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

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Mathematics in Robot Control for Theoretical and Applied Problems

Mercorelli, P. (Editor), Sergiyenko, O. Y. (Editor) & Tsymbal, O. (Editor), 22.04.2025, Basel: MDPI AG. 296 p. (Mathematics)

Research output: Books and anthologies › Collected editions and anthologies › Research

DOI

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