A computed torque controller for uncertain robotic manipulator systems: Fuzzy approach | |
Song, ZS; Yi, JQ![]() ![]() | |
刊名 | FUZZY SETS AND SYSTEMS
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2005-09-01 | |
卷号 | 154期号:2页码:208-226 |
关键词 | robotic manipulators computed torque control fuzzy control fuzzy basis function |
英文摘要 | Computed Torque Control (CTC) is an effective motion control strategy for robotic manipulator systems, which can ensure globally asymptotic stability. However, CTC scheme requires precise dynamical models of robotic manipulators. To handle this impossibility, in this paper, a new approach combing CTC and Fuzzy Control (FC) is developed for trajectory tracking problems of robotic manipulators with structured uncertainty and/or unstructured uncertainty. Fuzzy part with a set of tunable parameters is employed to approximate lumped uncertainty due to parameters variations, unmodeled dynamics and so on in robotic manipulators. Based on Lyapunov stability theorem, it is shown that the proposed controller can guarantee stability of closed-loop systems and satisfactory tracking performances. The proposed approach indicates that CTC method is also valid for controlling uncertain robotic manipulators as long as compensative controller is appropriately designed. Finally, computer simulation results on a two-link elbow planar robotic manipulator are presented to show tracking capability and effectiveness of the proposed scheme. (c) 2005 Elsevier B.V All rights reserved. |
WOS标题词 | Science & Technology ; Technology ; Physical Sciences |
类目[WOS] | Computer Science, Theory & Methods ; Mathematics, Applied ; Statistics & Probability |
研究领域[WOS] | Computer Science ; Mathematics |
关键词[WOS] | SLIDING MODE CONTROL ; APPROXIMATION ; FEEDBACK ; DESIGN |
收录类别 | SCI |
语种 | 英语 |
WOS记录号 | WOS:000230364200003 |
内容类型 | 期刊论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/9122] ![]() |
专题 | 自动化研究所_09年以前成果 |
作者单位 | Chinese Acad Sci, Inst Automat, Lab Complex Syst & Intelligence Sci, Beijing 100080, Peoples R China |
推荐引用方式 GB/T 7714 | Song, ZS,Yi, JQ,Zhao, DB,et al. A computed torque controller for uncertain robotic manipulator systems: Fuzzy approach[J]. FUZZY SETS AND SYSTEMS,2005,154(2):208-226. |
APA | Song, ZS,Yi, JQ,Zhao, DB,&Li, XC.(2005).A computed torque controller for uncertain robotic manipulator systems: Fuzzy approach.FUZZY SETS AND SYSTEMS,154(2),208-226. |
MLA | Song, ZS,et al."A computed torque controller for uncertain robotic manipulator systems: Fuzzy approach".FUZZY SETS AND SYSTEMS 154.2(2005):208-226. |
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