NDLI: Discrete adaptive fuzzy control for asymptotic tracking of robotic manipulators

Content Provider	Springer Nature Link
Author	Fateh, Mohammad Mehdi Azargoshasb, Siamak
Copyright Year	2014
Abstract	This paper presents a novel discrete adaptive fuzzy controller for electrically driven robot manipulators. It addresses how to overcome the nonlinearity, uncertainties, discretizing error and approximation error of the fuzzy system for asymptotic tracking control of robotic manipulators. The proposed controller is model-free in the form of discrete Mamdani fuzzy controller. The parameters of fuzzy controller are adaptively tuned using an adaptive mechanism derived by stability analysis. A robust control term is used to compensate the approximation error of the fuzzy system for asymptotic tracking of a desired trajectory. The controller is robust against all uncertainties associated with the robot manipulator and actuators. It is easy to implement since it requires only the joint position feedback. Compared with fuzzy controllers which employ all states to guarantee stability, the proposed controller is very simpler. Stability analysis and simulation results show its efficiency in the tracking control.
Starting Page	2195
Ending Page	2204
Page Count	10
File Format	PDF
ISSN	0924090X
Journal	Nonlinear Dynamics
Volume Number	78
Issue Number	3
e-ISSN	1573269X
Language	English
Publisher	Springer Netherlands
Publisher Date	2014-07-26
Publisher Place	Dordrecht
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Discrete-time control Voltage control strategy Adaptive fuzzy control Robot manipulators Vibration, Dynamical Systems, Control Mechanics Mechanical Engineering Automotive Engineering
Content Type	Text
Resource Type	Article
Subject	Ocean Engineering Applied Mathematics Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Aerospace Engineering

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