Title :
A robust fuzzy logic controller for robot manipulators with uncertainties
Author :
Yi, Soo Yeong ; Chung, Myung Jin
Author_Institution :
Div. of Mech. & Control Syst., Korea Inst. of Sci. & Technol., Seoul, South Korea
fDate :
8/1/1997 12:00:00 AM
Abstract :
Owing to load variation and unmodeled dynamics, a robot manipulator can be classified as a nonlinear dynamic system with structured and unstructured uncertainties. In this paper, the stability and robustness of a class of the fuzzy logic control (FLC) is investigated and a robust FLC is proposed for a robot manipulator with uncertainties. In order to show the performance of the proposed control algorithm, computer simulations are carried out on a simple two-link robot manipulator
Keywords :
controllers; digital simulation; fuzzy control; fuzzy logic; manipulators; robust control; stability; computer simulations; fuzzy logic control; load variation; nonlinear dynamic system; performance; robot manipulators; robust fuzzy logic controller; robustness; stability; uncertainties; unmodeled dynamics; Control systems; Error correction; Fuzzy control; Fuzzy logic; Manipulator dynamics; Nonlinear dynamical systems; Robot control; Robust control; Robust stability; Uncertainty;
Journal_Title :
Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on
DOI :
10.1109/3477.604116
