Global asymptotic stability of a tracking sectorial fuzzy controller for robot manipulators

IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society
Victor SantibañezMiguel A Llama

Abstract

This paper shows that fuzzy control systems satisfying sectorial properties are effective for motion tracking control of robot manipulators. We propose a controller whose structure is composed by a sectorial fuzzy controller plus a full nonlinear robot dynamics compensation, in such a way that this structure leads to a very simple closed-loop system represented by an autonomous nonlinear differential equation. We demonstrate via Lyapunov theory, that the closed-loop system is globally asymptotically stable. Experimental results show the feasibility of the proposed controller.

References

Feb 5, 2008·IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society·M A LlamaV Santibanez
Feb 5, 2008·IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society·W LiF M Wahl

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Citations

Oct 12, 2010·Biomedical Engineering Online·Nezamoddin N KachouieEric Jervis
May 12, 2012·IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society·Juntao Fei, Jian Zhou
Nov 21, 2007·IEEE Transactions on Bio-medical Engineering·Nezamoddin N Kachouie, Paul W Fieguth

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