A novel global asymptotic stable set-point fuzzy controller with bounded torques for robot manipulators.

This paper addresses the set-point control of robot manipulators with friction where avoiding saturation of the actuators is a major issue. The original contribution is a novel direct fuzzy control system dealing with both practical constraints in mechanical manipulators: saturation and friction. Th...

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Bibliographic Details

Published in:	IEEE Transactions on fuzzy systems 13, 3 (2005).
Main Author:	Santibanez, V.
Format:	Article
Language:	English
Subjects:	Lyapunov theory. Actuator saturation avoidance. Bounded torques. Closed loop system. Friction. Global asymptotic stability. Robot manipulators. Set-point fuzzy control. Steady state position errors.