A robust model-based fuzzy-logic controller for robot manipulators

Author

Emami, Mohammad R. ; Goldenberg, Andrew A. ; Turkse, I. Burhan

Author_Institution

Dept. of Mech. & Ind. Eng., Toronto Univ., Ont., Canada

Volume

3

fYear

1998

fDate

16-20 May 1998

Firstpage

2500

Abstract

This paper presents a fuzzy-logic control structure, containing the fuzzy-logic model of the dynamic system and fuzzy control rules that ensure the stability and robust performance. The robust fuzzy rules are designed based on a generalized formulation of sliding mode control for a class of nonlinear multi-input multi-output systems. The proposed fuzzy-logic control scheme was applied to the trajectory control of a four-degree-of-freedom robot, and compared with the high-gain PID controllers. A superior tracking performance was achieved

Keywords

MIMO systems; fuzzy control; manipulators; nonlinear systems; position control; robust control; tracking; variable structure systems; MIMO systems; fuzzy control; fuzzy rules; model-based control; nonlinear systems; robot manipulators; robust control; sliding mode control; stability; tracking; trajectory control; Control systems; Fuzzy control; Fuzzy systems; Manipulators; Nonlinear control systems; Robot control; Robotics and automation; Robust control; Robust stability; Sliding mode control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on

Conference_Location

Leuven

ISSN

1050-4729

Print_ISBN

0-7803-4300-X

Type

conf

DOI

10.1109/ROBOT.1998.680717

Filename

680717