A computed torque controller for uncertain robotic manipulator systems: Fuzzy approach

	A computed torque controller for uncertain robotic manipulator systems: Fuzzy approach
	Song, ZS; Yi, JQ; Zhao, DB; Li, XC
刊名	FUZZY SETS AND SYSTEMS
	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.