A simple fuzzy controller for robot manipulators with bounded inputs
Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review
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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/works › Article in conference proceedings › Research › peer-review
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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 -