Name
Title | ||
|---|---|---|
Saturated output feedback tracking control for robot manipulators via fuzzy self-tuning |
Abstract | ||
|---|---|---|
This paper concerns the problem of output feedback tracking (OFT) control with bounded torque inputs of robot manipulators,
and proposes a novel saturated OFT controller based on fuzzy self-tuning proportional and derivative (PD) gains. First, aiming
to accomplish the whole closed-loop control with only position measurements, a linear filter is involved to generate a pseudo
velocity error signal. Second, different from previous strategies, the arctangent function with error-gain is applied to ensure
the boundedness of the torque control input, and an explicit system stability proof is made by using the theory of singularly
perturbed systems. Moreover, a fuzzy self-tuning PD regulator, which guarantees the continuous stability of the overall closed-loop
system, is added to obtain an adaptive performance in tackling the disturbances during tracking control. Simulation showed
that the proposed controller gains more satisfactory tracking results than the others, with a better dynamic response performance
and stronger anti-disturbance capability. |
Year | DOI | Venue |
|---|---|---|
2010 | 10.1631/jzus.C0910772 | 浙江大学学报C辑(计算机与电子)(英文版) |
Keywords | Field | DocType |
bounded torque input,robot,output feedback,fuzzy control,tracking systems,Robot,Tracking systems,Bounded torque input,Fuzzy control,Output feedback,TP24 | Control theory,Torque,Linear filter,Control theory,Computer science,Fuzzy logic,Tracking system,Self-tuning,Fuzzy control system,Iterative learning control | Journal |
Volume | Issue | ISSN |
11 | 12 | 1869-196X |
Citations | PageRank | References |
3 | 0.44 | 12 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Hua-shan Liu | 1 | 7 | 3.22 |
| Shi-qiang Zhu | 2 | 13 | 5.34 |
| Zhang-wei Chen | 3 | 3 | 0.44 |