A computed torque controller for uncertain robotic manipulator systems: Fuzzy approach

DOI10.1016/J.FSS.2005.03.007zbMath1068.93046OpenAlexW2087998189MaRDI QIDQ2386224

Jianqiang Yi, Dongbin Zhao, Xinchun Li, Zuoshi Song

Publication date: 22 August 2005

Published in: Fuzzy Sets and Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.fss.2005.03.007

zbMATH Keywords

Fuzzy controlRobotic manipulatorsFuzzy basis functionComputed torque control

Mathematics Subject Classification ID

Fuzzy control/observation systems (93C42) Automated systems (robots, etc.) in control theory (93C85)

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Feedforward fuzzy trajectory compensator with robust adaptive observer at input trajectory level for uncertain multi-link robot manipulators ⋮ Robust tracking control for robotic manipulator via fuzzy logic system and \(H_\infty\) approaches ⋮ Time‐delay compensation‐based robust control of mechanical manipulators: Operator‐theoretic analysis and experiment validation ⋮ Neural network based robust hybrid control for robotic system: an \(H_\infty\) approach ⋮ Backstepping based adaptive finite-time tracking control of manipulator systems with uncertain parameters and unknown backlash ⋮ Direct adaptive fuzzy sliding mode control with variable universe fuzzy switching term for a class of MIMO nonlinear systems ⋮ Comparative Study on Fractional Order PID and PID Controllers on Noise Suppression for Manipulator Trajectory Control ⋮ Adaptive robust quadratic stabilization tracking control for robotic system with uncertainties and external disturbances ⋮ Intelligent hybrid control strategy for trajectory tracking of robot manipulators ⋮ A robust adaptive control of a parallel robot ⋮ Fuzzy adaptive output feedback control for robotic systems based on fuzzy adaptive observer ⋮ Nonlinear disturbance observer based flexible-boundary prescribed performance control for a lower limb exoskeleton

Cites Work

• Robust adaptive fuzzy control in the presence of external disturbance and approximation error
• Variable structure adaptive fuzzy control for a class of nonlinear time-delay systems
• Adaptive computed torque control for rigid link manipulations
• Adaptive fuzzy control of a class of MIMO nonlinear systems
• Adaptive control of robot manipulators using fuzzy logic systems under actuator constraints
• Robust trajectory following of robots using computed torque structure with VSS
• Tracking control of non-linear systems using sliding surfaces, with application to robot manipulators†
• Adaptive manipulator control: A case study
• Conventional controller design for industrial robots — A tutorial
• Fuzzy sets
• Indirect adaptive fuzzy sliding mode control. I: Fuzzy switching
• Indirect adaptive fuzzy sliding mode control. II: Parameter projection and supervisory control

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