Robust Tracking Control for Robotic Manipulator via Fuzzy Logic System and H ∞ Approaches
Joint Authors
Source
Journal of Control Science and Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-03-30
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Electronic engineering
Information Technology and Computer Science
Abstract EN
Based on fuzzy logic system (FLS) and H ∞ control methodologies, a robust tracking control scheme is proposed for robotic system with uncertainties and external disturbances.
FLS is employed to implement the framework of computed torque control (CTC) method via its approximate capability which is used to attenuate the nonlinearity of robotic manipulator.
The robust H ∞ control can guarantee robustness to parametric and dynamics uncertainties and also attenuate the effect of immeasurable external disturbances entering the system.
Moreover, a quadratic stability approach is used to reduce the conservatism of the conventional robust control approach.
It can be guaranteed that all signals in the closed-loop are bounded by employing the proposed robust tracking control.
The validity of the proposed control scheme is shown by simulation of a two-link robotic manipulator.
American Psychological Association (APA)
Mu, Kun& Liu, Cong& Peng, Jinzhu. 2015. Robust Tracking Control for Robotic Manipulator via Fuzzy Logic System and H ∞ Approaches. Journal of Control Science and Engineering،Vol. 2015, no. 2015, pp.1-10.
https://search.emarefa.net/detail/BIM-1067775
Modern Language Association (MLA)
Mu, Kun…[et al.]. Robust Tracking Control for Robotic Manipulator via Fuzzy Logic System and H ∞ Approaches. Journal of Control Science and Engineering No. 2015 (2015), pp.1-10.
https://search.emarefa.net/detail/BIM-1067775
American Medical Association (AMA)
Mu, Kun& Liu, Cong& Peng, Jinzhu. Robust Tracking Control for Robotic Manipulator via Fuzzy Logic System and H ∞ Approaches. Journal of Control Science and Engineering. 2015. Vol. 2015, no. 2015, pp.1-10.
https://search.emarefa.net/detail/BIM-1067775
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1067775