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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Ming Liu |
| Copyright Year | 2000 |
| Description | Author affiliation: Dept. of Electr. & Comput. Syst. Eng., Monash Univ., Clayton, Vic., Australia (Ming Liu) |
| Abstract | The global ultimate stability of a decentralized adaptive fuzzy controller for trajectory tracking of robot manipulators is presented. Employing a PD control and a cubic feedback to ensure the global stability for robot tracking, an adaptive fuzzy logic scheme is incorporated to reduce the effects of interconnections, frictions, gravity force and other uncertainties. It shows that with a very limited knowledge on the sizes of interconnection terms, the controller guarantees the global ultimate boundedness of tracking errors. As the overall controller is based on a decentralized controller structure, it results in very simple fuzzy rules which can be implemented in most robot systems without hardware alternation. The simulation results are included for verification. |
| Starting Page | 883 |
| Ending Page | 888 |
| File Size | 535275 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780366387 |
| ISSN | 01912216 |
| DOI | 10.1109/CDC.2000.912882 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2000-12-12 |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Stability analysis Programmable control Adaptive control Fuzzy logic Robots Fuzzy control Force feedback Control systems Trajectory Manipulators |
| Content Type | Text |
| Resource Type | Article |
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