A robust fuzzy logic controller for robot manipulators with uncertainties

Soo Yeong Yi; Myung Jin Chung

doi:10.1109/3477.604116

A robust fuzzy logic controller for robot manipulators with uncertainties

Soo Yeong Yi, Myung Jin Chung

Dept. of Electrical and Information Engineering

Korea Advanced Institute of Science and Technology

Research output: Contribution to journal › Article › peer-review

69 Scopus citations

Abstract

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.

Original language	English
Pages (from-to)	706-713
Number of pages	8
Journal	IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Volume	27
Issue number	4
DOIs	https://doi.org/10.1109/3477.604116
State	Published - 1997

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10.1109/3477.604116

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title = "A robust fuzzy logic controller for robot manipulators with uncertainties",

abstract = "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.",

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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.

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ER -

A robust fuzzy logic controller for robot manipulators with uncertainties

Abstract

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