TY - JOUR
T1 - A robust fuzzy logic controller for robot manipulators with uncertainties
AU - Yi, Soo Yeong
AU - Chung, Myung Jin
PY - 1997
Y1 - 1997
N2 - Owing to load variation and unmodeled dynamics, a robot manipulator can be classified as a nonlinear dynamic system with structured and unstructured uncertainties. In this paper, the stability and robustness of a class of the fuzzy logic control (FLC) is investigated and a robust FLC is proposed for a robot manipulator with uncertainties. In order to show the performance of the proposed control algorithm, computer simulations are carried out on a simple two-link robot manipulator.
AB - Owing to load variation and unmodeled dynamics, a robot manipulator can be classified as a nonlinear dynamic system with structured and unstructured uncertainties. In this paper, the stability and robustness of a class of the fuzzy logic control (FLC) is investigated and a robust FLC is proposed for a robot manipulator with uncertainties. In order to show the performance of the proposed control algorithm, computer simulations are carried out on a simple two-link robot manipulator.
UR - http://www.scopus.com/inward/record.url?scp=0031212328&partnerID=8YFLogxK
U2 - 10.1109/3477.604116
DO - 10.1109/3477.604116
M3 - Article
AN - SCOPUS:0031212328
SN - 1083-4419
VL - 27
SP - 706
EP - 713
JO - IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
JF - IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
IS - 4
ER -