Robust fuzzy tracking control for robotic manipulators

Simulation Modelling Practice and Theory

Volumn 15, Issue 7, 2007, Pages 801-816

  Ho, H F ^a   Wong, Y K ^a   Rad, A B ^b  

^a HONG KONG POLYTECHNIC UNIVERSITY   (Hong Kong)

^b SWINBURNE UNIVERSITY OF TECHNOLOGY   (Australia)

Author keywords

Adaptive control; Fuzzy logic; Robot control; Sliding mode control

Indexed keywords

ADAPTIVE ALGORITHMS; COMPUTER SIMULATION; CONTROL SYSTEM ANALYSIS; FUZZY CONTROL; FUZZY LOGIC; ROBOT APPLICATIONS;

ROBOT SYSTEM; ROBOTIC DYNAMICS; ROBUST TRACKING; TRAJECTORY TRACKING;

ROBUST CONTROL;

EID: 34250810338     PISSN: 1569190X     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.simpat.2007.04.008     Document Type: Article

References (26)

1. Spong M.W., and Vidyasagar M. Robot Dynamics and Control (1989), Wiley, New York
2. Craig J.J. Introduction to Robotics. second ed. (1989), Addison-Wisley, Reading, MA
3. Green A., and Sasiadek J.Z. Dynamics and trajectory tracking control of a two-link robot manipulator. J. Vibr. Control 10 10 (2004) 1415-1440
4. A. Green, J.Z. Sasiadek, Fuzzy and optimal control of a two-link flexible manipulator, in: Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2001, pp. 1169-1174.
5. Ortega R., and Spong M.W. Adaptive motion control of rigid robots: a tutorial. Automatica 25 (1989) 877-888
6. Slotine J.E., and Li W. Composite adaptive control of robot manipulator. Automatica 25 (1989) 509-519
7. Slotine J.E., and Li W. Applied Nonlinear Control (1991), Prentice-Hall, Englewood Cliffs (NJ)
8. Su C.Y., and Leung T.P. A sliding mode controller with bound estimation for robot manipulators. IEEE Trans. Robotics Automat. 9 (1993) 208-214
9. Stepanenko Y., and Su C.Y. Variable structure control of robust manipulators with nonlinear sliding manifolds. Int. J. Control 58 (1993) 285-300
10. ∞ tracking control design in robotic systems via neural networks. IEEE Trans. Contr. Syst. Technol. 5 (1997) 13-29
11. Barambones O., and Etxebarria V. Robust neural control for robotic manipulators. Automatica 38 (2002) 235-242
12. Ge S.S., Hang C.C., and Woon L.C. Adaptive neural network control of robot manipulators in task space. IEEE Trans. Ind. Electron. 44 (1997) 746-752
13. Sun F.C., Sun Z.Q., and Feng G. An adaptive fuzzy controller based on sliding mode for robot manipulators. IEEE Trans. Syst. Man Cybern. 29 (1999) 661-667
14. Llama M.A., Kelly R., and Santibanez V. Stable computed-torque control of robot manipulators via fuzzy self-tuning. IEEE Trans. Syst. Man Cybern. 30 (2000) 143-150
15. Yoo B.K., and Ham W.C. Adaptive control of robot manipulator using fuzzy compensator. IEEE Trans. Fuzzy Syst. 8 (2000) 186-198
16. Cruz E.A.M., and Morris A.S. Fuzzy-GA-based trajectory planner for robot manipulators sharing a common workspace. IEEE Trans. Robot. 22 (2006) 613-624
17. Labiod S., Boucherit M.S., and Guerra T.M. Adaptive fuzzy control of a class of MIMO nonlinear systems. Fuzzy Sets Syst. 151 (2005) 59-77
18. Wang L.X. A Course in Fuzzy System and Control (1997), Prentice-Hall, Englewood Cliffs (NJ)
19. Yoo B., and Ham W. Adaptive fuzzy sliding mode control of nonlinear system. IEEE Trans. Fuzzy Syst. 6 (1998) 315-321
20. Su C.Y., and Stepanenko Y. Adaptive control of a class of nonlinear systems with fuzzy logic. IEEE Trans. Fuzzy Syst. 2 (1994) 285-294
21. Chang Y.C. Robust tracking control for nonlinear MIMO systems via fuzzy approaches. Automatica 36 (2000) 1535-1545
22. ∞ tracking design of uncertain nonlinear SISO systems: adaptive fuzzy approach. IEEE Trans. Fuzzy Syst. 4 (1996) 32-43
23. Baik I.C., Kim K.H., and Youn M.J. Robust nonlinear speed control of PM synchronous motor using boundary layer integral sliding mode control technique. IEEE Trans. Contr. Syst. Technol. 8 (2000) 47-54
24. Sastry S., and Bodson M. Adaptive Control: Stability, Convergence and Robustness (1989), Prentice-Hall, Englewood Cliffs (NJ)
25. Peng L., and Woo P.Y. Neural-fuzzy control system for robotic manipulators. IEEE Contr. Syst. Mag. 22 (2002) 53-63
26. Lewis F.L., Jagannathan S., and Yesildirek A. Neural Network Control of Robot Manipulators and Nonlinear Systems (1999), Taylor and Francis, London