Open document
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General information |
| Author |
Chen, Yuan; Ma, Guangying; Lin, Shuxia; Gao, Jun |
| Published |
InTech Open Access Publisher, 2012
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| Abstract |
To overcome the disadvantages of
conventional computed‐torque control and fuzzy
control, and to exploit their attractive features, this
paper proposes two types of adaptive control scheme
combining conventional computed‐torque control and
different fuzzy compensators for the robust tracking
control of robotic manipulators with structured and
unstructured uncertainties. Fuzzy compensators based
on feed‐forward and feed‐back are developed to
compensate these uncertain dynamics. On the basis of
Lyapunov stability theory, a tracking error limit is
derived for the closed‐loop control system and the
convergence and stability of the control schemes are
proved. Comparisons of their performances with
conventional computed‐torque controllers under the
condition of these uncertainties are carried out. The
validity of the two types of adaptive control scheme is
shown by numerical simulations of a three‐link rotary
robot manipulator. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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