Self-Adjusting Fuzzy Logic Based Control of Robot Manipulators in Task Space

End effector tracking control of robot manipulators subject to dynamical uncertainties is the main objective of this article. Direct task space control that aims minimizing the end effector tracking error directly is preferred. In the open loop error system, the vector that depends on uncertain dyna...

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Bibliographic Details
Published inIEEE transactions on industrial electronics (1982) Vol. 69; no. 2; pp. 1620 - 1629
Main Authors Yilmaz, B. Melih, Tatlicioglu, Enver, Savran, Aydogan, Alci, Musa
Format Journal Article
LanguageEnglish
Published New York IEEE 01.02.2022
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Adaptive fuzzy logic (AFL)
Aerospace electronics
Control stability
End effectors
Feedback control
fuzzy approximation
Fuzzy control
Fuzzy logic
Jacobian matrices
Kinematics
Lyapunov methods
Manipulator dynamics
Manipulators
Proportional derivative
Robot arms
Robot control
robot manipulators
Robots
Task analysis
Task space
task space control
Tracking control
Tracking errors
Uncertainty
universal fuzzy controller
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Summary:End effector tracking control of robot manipulators subject to dynamical uncertainties is the main objective of this article. Direct task space control that aims minimizing the end effector tracking error directly is preferred. In the open loop error system, the vector that depends on uncertain dynamical terms is modeled via a fuzzy logic network and a self-adjusting adaptive fuzzy logic component is designed as part of the nonlinear proportional derivative based control input torque. The stability of the closed-loop system is investigated via Lyapunov based arguments and practical tracking is proven. The viability of the proposed control strategy is shown with experimental results. Extensions to uncertain Jacobian case and kinematically redundant robots are also presented.
Bibliography:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2021.3063970