A stable motion control system for manipulators via fuzzy self-tuning

In this paper we present a motion control scheme based on a gain scheduling fuzzy self-tuning structure for robot manipulators. We demonstrate, by taking into account the full non-linear and multivariable nature of the robot dynamics, that the overall closed-loop system is uniformly asymptotically s...

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Bibliographic Details
Published inFuzzy sets and systems Vol. 124; no. 2; pp. 133 - 154
Main Authors Llama, Miguel A., Kelly, Rafael, Santibañez, Victor
Format Journal Article
LanguageEnglish
Published Elsevier B.V 01.12.2001
Subjects
Control theory
Fuzzy control
Lyapunov stability
Robotics
Lyapunov stability
Fuzzy control
Control theory
Robotics
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Summary:In this paper we present a motion control scheme based on a gain scheduling fuzzy self-tuning structure for robot manipulators. We demonstrate, by taking into account the full non-linear and multivariable nature of the robot dynamics, that the overall closed-loop system is uniformly asymptotically stable. Besides the theoretical result, the proposed control scheme shows two practical characteristics. First, the actuators torque capabilities can be taken into account to avoid torque saturation, and second, undesirable effects due to Coulomb friction in the robot joints can be attenuated. Experimental results on a two degrees-of-freedom direct-drive arm show the usefulness of the proposed control approach.
ISSN:0165-0114
1872-6801
DOI:10.1016/S0165-0114(00)00061-0