A fuzzy uncertainty compensator for manipulator trajectory tracking
Research output: Journal Publications and Reviews › RGC 21 - Publication in refereed journal › peer-review
Author(s)
Detail(s)
Original language | English |
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Pages (from-to) | 17-20 |
Journal / Publication | Chinese Journal of Mechanical Engineering (English Edition) |
Volume | 16 |
Issue number | 1 |
Publication status | Published - Mar 2003 |
Link(s)
Abstract
A fuzzy logic compensating (FLC) scheme is proposed to enhance the conventional computed-torque control (CTC) structure of manipulators. The control scheme is based on the combination of a classical CTC and FLC, and the resulting control scheme has a simple structure with improved robustness. Further improvement of the performance of the FLC scheme is achieved through automatic tuning of a weight parameter α leading to a self-tuning fuzzy logic compensator, so the system uncertainty can be compensated very well. By taking into account the full nonlinear nature of the robotic dynamics, the overall closed-loop system is shown to be asymptotically stable. Experimental results demonstrate the effectiveness of the computed torque and fuzzy compensation scheme to control a manipulator during a trajectory tracking task.
Research Area(s)
- Fuzzy compensator, Manipulator, Trajectory tracking
Citation Format(s)
A fuzzy uncertainty compensator for manipulator trajectory tracking. / Chen, Wuwei; Mills, James K; Sun, Dong.
In: Chinese Journal of Mechanical Engineering (English Edition), Vol. 16, No. 1, 03.2003, p. 17-20.
In: Chinese Journal of Mechanical Engineering (English Edition), Vol. 16, No. 1, 03.2003, p. 17-20.
Research output: Journal Publications and Reviews › RGC 21 - Publication in refereed journal › peer-review