A neuro-fuzzy logic controller for trajectory tracking of uncertain robots
Resource
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Journal
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Pages
-
Date Issued
1996-04
Date
1996-04
Author(s)
Tsai, Chih-Hsin
Liu, Jing-Sin
Lin, Wei-Song
DOI
N/A
Abstract
This paper presents an adaptive fuzzy computed-torque controller, that enhances fuzzy controllers with an embedded adjustable two-stages credit assignment and self-learning capability, for uncertain robots, to online track a prescribed trajectory. An adaptation law for the parameters of controller is combined with the dead-zone technique to guarantee a given attenuation region of tracking error in the presence of torque disturbance. Simulations of a two-link robot carrying a heavy load illustrate the effectiveness and attenuation capability of the controller for online trajectory tracking in the presence of inertial parameters uncertainties and torque disturbances.
SDGs
Type
journal article
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