A simple fuzzy controller for robot manipulators with bounded inputs

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

Standard

A simple fuzzy controller for robot manipulators with bounded inputs. / Zheng, Chunhong; Su, Yuxin; Mercorelli, Paolo.
2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM). IEEE - Institute of Electrical and Electronics Engineers Inc., 2017. p. 1737-1742.

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

Harvard

Zheng, C, Su, Y & Mercorelli, P 2017, A simple fuzzy controller for robot manipulators with bounded inputs. in 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM). IEEE - Institute of Electrical and Electronics Engineers Inc., pp. 1737-1742, IEEE International Conference on Advanced Intelligent Mechatronics 2017, München, Bavaria, Germany, 03.07.17. https://doi.org/10.1109/AIM.2017.8014269

APA

Zheng, C., Su, Y., & Mercorelli, P. (2017). A simple fuzzy controller for robot manipulators with bounded inputs. In 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) (pp. 1737-1742). IEEE - Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2017.8014269

Vancouver

Zheng C, Su Y, Mercorelli P. A simple fuzzy controller for robot manipulators with bounded inputs. In 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM). IEEE - Institute of Electrical and Electronics Engineers Inc. 2017. p. 1737-1742 doi: 10.1109/AIM.2017.8014269

Bibtex

@inbook{cc5717044d044409845f4756151c3987,
title = "A simple fuzzy controller for robot manipulators with bounded inputs",
abstract = "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.",
keywords = "Engineering, Asymptotic stability, Controllers, Flexible manipulators, Industrial robots, Intelligent mechatronics, Modular robots, Robot applications, Robots",
author = "Chunhong Zheng and Yuxin Su and Paolo Mercorelli",
year = "2017",
month = aug,
day = "21",
doi = "10.1109/AIM.2017.8014269",
language = "English",
isbn = "9781509059980",
pages = "1737--1742",
booktitle = "2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)",
publisher = "IEEE - Institute of Electrical and Electronics Engineers Inc.",
address = "United States",
note = "IEEE International Conference on Advanced Intelligent Mechatronics 2017, AIM 2017 ; Conference date: 03-07-2017 Through 07-07-2017",
url = "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",

}

RIS

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 -

DOI

Recently viewed

Publications

  1. Finale - Prüfungstraining Qualifizierender Abschluss der Mittelschule Bayern
  2. Verfahrensregelungen zu Öffnungszeiten, Schließungszeiten, Ferienregelungen
  3. L'entrepreneuriat comme science sociale: De la nécessité d'une approche holiste
  4. The role of social cognitive career theory in post-retirement career planning
  5. Stärkung der Qualität der Abschlussprüfung durch die externe Rotationspflicht?
  6. Twitter and its usage for dialogic stakeholder communication by MNCs and NGOs
  7. Die Dynamik tiefgreifenden Wandels in Gesellschaft, Wirtschaft und Unternehmen
  8. The influence of visual texture on perceiving the location of auditory events
  9. Regionalzentren – Bildung für nachhaltige Entwicklung (RCEs) Was? Noch nie gehört?
  10. Subsidiarität und Selbstorganisation als Leitprinzipien der Hochschulsteuerung
  11. Vom schwierigen Vergnügen einer Kommunikation über die Idee der Nachhaltigkeit
  12. Parallelen zwischen Nachhaltigkeit, Wissensgesellschaft und lebenslangem Lernen
  13. Vom schwierigen Vergnügen einer Kommunikation über die Idee der Nachhaltigkeit
  14. Selbstverständnis, Unternehmensstrategie und Arbeitsbelastung von Buchverlegern
  15. Negative Geschäfts- oder Firmenwerte im Handels- und Steuerrecht sowie nach IFRS
  16. Der Prozess der Feststellung sonderpädagogischen Förderbedarfs in Deutschland
  17. Plädoyer für eine bildungstheoretisch begründete nachhaltige Curriculumrevision
  18. Berufswissenschaftliche Forschung in den Berufsfeldern Erziehung/Sozialpädagogik
  19. Master-Studiengang "Schulpädagogik/Didaktik" für den Quereinstieg in den Lehrerberuf
  20. Préparation à la transition de l’école obligatoire à la formation professionnelle
  21. Expectation, Motivation and Willingness to Prolong Working Life of German Workers
  22. Einführung: Über die Schwierigkeit, Kindern mit Aufmerksamkeitsproblemen zu helfen
  23. Grundsätze ordnungsmäßiger Kooperation zwischen Aufsichtsrat und Abschlussprüfer
  24. Diskussionsinhalte der 10. Hamburger Auditing and Control Conference am 20./21.09.2012
  25. Der Zusammenhang zwischen Corporate Governance und Kapitalkosten des Unternehmens
  26. Verteilungswirkungen der Steuerreform 2000/2005 im Vergleich zum "Karlsruher Entwurf"
  27. PowerPoint und die Einkapselung von Prozessualität im projektübergreifenden Lernen
  28. Gut - aber kein Grund zur Selbstzufriedenheit ; IGLU-Ergebnisse aus Nordrhein-Westfalen