A robust model-based fuzzy-logic controller for robot manipulators
This paper presents a fuzzy-logic control structure, containing the fuzzy-logic model of the dynamic system and fuzzy control rules that ensure the stability and robust performance. The robust fuzzy rules are designed based on a generalized formulation of sliding mode control for a class of nonlinea...
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| creator | Emami, M.R. Goldenberg, A.A. Turksen, I.B. |
| description | This paper presents a fuzzy-logic control structure, containing the fuzzy-logic model of the dynamic system and fuzzy control rules that ensure the stability and robust performance. The robust fuzzy rules are designed based on a generalized formulation of sliding mode control for a class of nonlinear multi-input multi-output systems. The proposed fuzzy-logic control scheme was applied to the trajectory control of a four-degree-of-freedom robot, and compared with the high-gain PID controllers. A superior tracking performance was achieved. |
| doi_str_mv | 10.1109/ROBOT.1998.680717 |
| format | Conference Proceeding |
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A superior tracking performance was achieved.</description><subject>Control systems</subject><subject>Fuzzy control</subject><subject>Fuzzy systems</subject><subject>Manipulators</subject><subject>Nonlinear control systems</subject><subject>Onboard space systems</subject><subject>Robot control</subject><subject>Robotics and automation</subject><subject>Robust control</subject><subject>Robust stability</subject><subject>Rymdtekniska system</subject><subject>Sliding mode control</subject><issn>1050-4729</issn><issn>2577-087X</issn><isbn>078034300X</isbn><isbn>9780780343009</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>1998</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNo90MtqAjEYBeDQC1RtH6BdzQM09k8yM0mW2jsIQrHF3ZDbSEo0ksxQ9OmrWLo6m4_D4SB0S2BMCMiHj_l0vhgTKcW4FsAJP0MDWnGOQfDlORoCF8BKBrC8QAMCFeCSU3mFhjl_AwBjdT1A00mRou5zV6yjdQFrlZ0t2n6_3-EQV94UJm66FENwqWhjOup4wGrjt31QXUz5Gl22KmR385cj9PnyvHh8w7P56_vjZIY9BdlhWouSaEmFEopYIylXxIClhHBhDztbw5Q8RsUkaS03tSVaq7LVBipdazZC96fe_OO2vW62ya9V2jVR-ebJf02amFZN6PqG8pLLA787ce-c-8enp9gvG8ZciA</recordid><startdate>1998</startdate><enddate>1998</enddate><creator>Emami, M.R.</creator><creator>Goldenberg, A.A.</creator><creator>Turksen, I.B.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope><scope>ADTPV</scope><scope>BNKNJ</scope></search><sort><creationdate>1998</creationdate><title>A robust model-based fuzzy-logic controller for robot manipulators</title><author>Emami, M.R. ; Goldenberg, A.A. ; Turksen, I.B.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i209t-26841b928a8a1dc927a1c0d21178d343fc3a943fc5391fd7c6d1bba4fbc05b6b3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>1998</creationdate><topic>Control systems</topic><topic>Fuzzy control</topic><topic>Fuzzy systems</topic><topic>Manipulators</topic><topic>Nonlinear control systems</topic><topic>Onboard space systems</topic><topic>Robot control</topic><topic>Robotics and automation</topic><topic>Robust control</topic><topic>Robust stability</topic><topic>Rymdtekniska system</topic><topic>Sliding mode control</topic><toplevel>online_resources</toplevel><creatorcontrib>Emami, M.R.</creatorcontrib><creatorcontrib>Goldenberg, A.A.</creatorcontrib><creatorcontrib>Turksen, I.B.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection><collection>SwePub</collection><collection>SwePub Conference</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Emami, M.R.</au><au>Goldenberg, A.A.</au><au>Turksen, I.B.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>A robust model-based fuzzy-logic controller for robot manipulators</atitle><btitle>1998 IEEE International Conference on Robotics and Automation, Leuven, Belgium, 16-20 May 1998</btitle><stitle>ROBOT</stitle><date>1998</date><risdate>1998</risdate><volume>3</volume><spage>2500</spage><epage>2505 vol.3</epage><pages>2500-2505 vol.3</pages><issn>1050-4729</issn><eissn>2577-087X</eissn><isbn>078034300X</isbn><isbn>9780780343009</isbn><abstract>This paper presents a fuzzy-logic control structure, containing the fuzzy-logic model of the dynamic system and fuzzy control rules that ensure the stability and robust performance. The robust fuzzy rules are designed based on a generalized formulation of sliding mode control for a class of nonlinear multi-input multi-output systems. The proposed fuzzy-logic control scheme was applied to the trajectory control of a four-degree-of-freedom robot, and compared with the high-gain PID controllers. A superior tracking performance was achieved.</abstract><pub>IEEE</pub><doi>10.1109/ROBOT.1998.680717</doi></addata></record> |
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| identifier | ISSN: 1050-4729 |
| ispartof | 1998 IEEE International Conference on Robotics and Automation, Leuven, Belgium, 16-20 May 1998, 1998, Vol.3, p.2500-2505 vol.3 |
| issn | 1050-4729 2577-087X |
| language | eng |
| recordid | cdi_ieee_primary_680717 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Control systems Fuzzy control Fuzzy systems Manipulators Nonlinear control systems Onboard space systems Robot control Robotics and automation Robust control Robust stability Rymdtekniska system Sliding mode control |
| title | A robust model-based fuzzy-logic controller for robot manipulators |
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