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...
| 發表在: | IEEE Transactions on fuzzy systems 13, 3 (2005). |
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| 格式: | Article |
| 語言: | English |
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