Stable fuzzy self-tuning computed-torque control of robot manipulators

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 1998, Pages 2369-2374

  Llama, Miguel A ^a   Santibaliez, Victor ^a   Kelly, Rafael ^b   Flores, Jesus ^a  

^a INSTITUTO TECNOLÓGICO DE LA LAGUNA   (Mexico)

^b CENTRO DE INVESTIGACIÓN CIENTÍFICA Y DE EDUCACIÓN SUPERIOR DE ENSENADA   (Mexico)

Author keywords

Actuators; Asymptotic stability; Friction; Fuzzy control; Manipulators; Motion control; PD control; Proportional control; Robot control; Symmetric matrices

Indexed keywords

ACTUATORS; ASYMPTOTIC STABILITY; DEGREES OF FREEDOM (MECHANICS); FRICTION; FUZZY CONTROL; MOTION CONTROL; ROBOT APPLICATIONS; ROBOTICS; ROBOTS; TORQUE; TORQUE CONTROL; ALGORITHMS; CONSTRAINT THEORY; FUZZY SETS; ROBOTIC ARMS; SELF TUNING CONTROL SYSTEMS;

COMPUTED TORQUE CONTROL; GLOBAL ASYMPTOTIC STABILITY; PD CONTROL; PROPORTIONAL CONTROL; ROBOT CONTROLS; SYMMETRIC MATRICES; SYMMETRIC POSITIVE DEFINITE; TWO DEGREES OF FREEDOM;

MANIPULATORS;

COMPUTED TORQUE SCHEME;

EID: 0031635475     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.1998.680678     Document Type: Conference Paper

References (13)

1. J.J. Craig, 1989, "Introduction to Robotics", 2nd ed., Addison-Wesley Pub.
2. M.Spong and M. Vidyasagar, "Robot Dynamics and control", John Wiley and Sons, NY., 1989.
3. F. L .Lewis, C. T. Abdailah, D.M. Dawson, "Control of Robot Manipulators", MacMil-lan Publishing Company.
4. L. Sciavicco, B. Siciliano, 1996, "Modeling and control of robot manipulators", McGraw-Hill Co.
5. T. Fukuda and T. Shibata, 1992, "Hierarchical intelligent control for robotic motion by us-ing Fuzzy, artificial intelligence, and Neural Networks", in Proc. Int. J. Conference on Neural Networks, Baltimore, MD, Vol. 1, pp. 269-274.
6. J. Zhou and P. Coiffet, 1992, "Fuzzy control of robots", in Proc. 1st. Int. Conf. on Fuzzy systems, San Diego, CA, pp. 1357-1364.
7. J. M. Meslin, J. Zhou and P. Coiffet, 1993, "Fuzzy dynamic control of robot manipulators: A scheduling approach", in Proc. IEEE Int. Conf. on Syst. Man and Cybern., Le Tourquet, France, pp. 69-73.
8. Sayyarrodsari, B. and A. Homaifar, "The role of Hierarchy in the design of fuzzy logic controllers", IEEE Trans, on Systems, Man, and Cybernetics -Part B: Cybernetics, Vol. 27, No. 1, pp. 108-118, 1997.
9. R. Kelly, R. Haber, R. E. Haber, F. Reyes, "Lya-punov stable control of robot manipulators: A fuzzy self-tuning procedure", Intelligent Automation and Soft Computing, To appear, 1998.
10. Vidyasagar M. (1993). "Nonlinear Systems Analysis", Prentice-Hall, Englewood Cliffs, NJ.
11. Lee, C. C. "Fuzzy logic in control systems: Fuzzy logic controller -Part II", IEEE Transactions on Systems, Man and Cybernetics, Vol. 20, No. 2, pp. 419-435, 1990.
12. Yager, R. R. and D. P. Filev, Essentials of Fuzzy modeling and control, John Wiley and Sons, NY, .
13. F. Reyes, R. Kelly, "Experimental evaluation of identification schemes on a direct-drive robot", Robotica, Vol. 15, Part 5, September-October 1997, pp. 563-571.