Name
Abstract | ||
|---|---|---|
In this paper, an adaptive fuzzy logic controller based on disturbance observer is studied for robot systems with guaranteed prescribed performances and parametric uncertainties. An adaptive fuzzy logic system (FLS) is employed to approximate the unknown dynamic parts of the robotic manipulators, and a disturbance observer (DO) is constructed to attenuate the influence of the unknown disturbances from humans and environment. Barrier Lyapunov function (BLF) is used to guaranteed prescribed transient and steady-state tracking control performances. And with the use of Lyapunov stability theory, the tracking errors are proved to be semiglobally finite-time stable (SGFTS). Simulation is carried out to verify the effectiveness and usefulness of the proposed method. |
Year | DOI | Venue |
|---|---|---|
2021 | 10.1109/ISIE45552.2021.9576362 | PROCEEDINGS OF 2021 IEEE 30TH INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS (ISIE) |
Keywords | DocType | ISSN |
Adaptive fuzzy control, BLF, prescribed tracking performance, DO, finite time control | Conference | 2163-5137 |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
6 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Zhuang Liu | 1 | 3 | 2.06 |
| Yue Zhao | 2 | 186 | 33.54 |
| Fagang Liu | 3 | 3 | 1.72 |
| Song Gao | 4 | 0 | 0.34 |
| Yizhuo Sun | 5 | 0 | 0.34 |
| Jiahui Wang | 6 | 0 | 0.34 |