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

Publications

  1. Evaluating entity annotators using GERBIL
  2. Errors in Working with Office Computers
  3. Optimal trajectory generation for camless internal combustion engine valve control
  4. Processing of CSR communication: insights from the ELM
  5. Introduction to the challenges and chances regarding the utilization of nitrogen-rich by-products and waste streams
  6. Developing a sustainable platform for entity annotation benchmarks
  7. Influence of three different unstable shoe constructions on EMG-activity during treadmill walking
  8. Action Errors, Error Management, and Learning in Organizations
  9. Optimization of a gaseous multitube detector for soft X-ray detection
  10. Explaining Disagreement on Interest Rates in a Taylor-Rule Setting
  11. Handicaps in job assignment
  12. A Developmental Trend in the Structure of Time-Estimation Performance
  13. I can make it!
  14. Multifractality Versus (Mono-) Fractality as Evidence of Nonlinear Interactions Across Timescales
  15. A single PD plus gravity compensation control for global asymptotic regulation of robot manipulators with actuator constraints
  16. Hot forging behavior of Mg−8Al−4Ba−4Ca (ABaX844) alloy and validation of processing map
  17. Excellence in Teaching and Learning
  18. Ecological design & engineering for urban environments
  19. Impact factors and regulatory mechanisms for material flow management
  20. When Do Pictures Help Learning from Expository Text? Multimedia and Modality Effects in Primary Schools
  21. Impact of different methods of heathland management on the nutrient balance and vegetation dynamics
  22. Documenting and Describing the Transcultural
  23. From railroad imperialism to neoliberal reprimarization: Lessons from regime-shifts in the Global Soybean Complex
  24. Atlas mit CD-ROM
  25. Understanding the diffusion of domestic biogas technologies.
  26. Unusual deactivation in the asymmetric hydrogenation of itaconic acid
  27. The impact of partially missing communities on the reliability of centrality measures
  28. Public service media, innovation policy and the ‘crowding out’ problem
  29. Valuing Ecosystem Services in Terms of Ecological Risks and Returns
  30. The pace of range expansion
  31. Antibiotics in the Environment
  32. "Are we in sync with each other?" Exploring the effects of cosleeping on heterosexual couplestextquotesingle sleep using simultaneous polysomnography
  33. A general result on absolute continuity of non-uniform self-similar measures on the real line
  34. Resource selection by sympatric wild equids in the Mongolian Gobi
  35. Promoting neighbourhood sharing: infrastructures of convenience and community
  36. Geometrical Characterization of Polyethylene Oxide Nanofibers by Atom Force Microscope and Confocal Laser Scanning Microscope
  37. Digital Transformation and Institutional Theory
  38. Pragmatic and discourse-analytic approaches to present-day English
  39. Towards a thick understanding of sustainability transitions - Linking transition management, capabilities and social practices
  40. Counts of all walks as atomic and molecular descriptors.