Please use this identifier to cite or link to this item: http://hdl.handle.net/10397/16883
Title: Robust fuzzy tracking control for robotic manipulators
Authors: Ho, HF
Wong, YK
Rad, AB
Keywords: Adaptive control
Fuzzy logic
Robot control
Sliding mode control
Issue Date: 2007
Publisher: Elsevier Science Bv
Source: Simulation modelling practice and theory, 2007, v. 15, no. 7, p. 801-816 How to cite?
Journal: Simulation Modelling Practice and Theory 
Abstract: In this paper, a stable adaptive fuzzy-based tracking control is developed for robot systems with parameter uncertainties and external disturbance. First, a fuzzy logic system is introduced to approximate the unknown robotic dynamics by using adaptive algorithm. Next, the effect of system uncertainties and external disturbance is removed by employing an integral sliding mode control algorithm. Consequently, a hybrid fuzzy adaptive robust controller is developed such that the resulting closed-loop robot system is stable and the trajectory tracking performance is guaranteed. The proposed controller is appropriate for the robust tracking of robotic systems with system uncertainties. The validity of the control scheme is shown by computer simulation of a two-link robotic manipulator.
URI: http://hdl.handle.net/10397/16883
DOI: 10.1016/j.simpat.2007.04.008
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