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

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...

Täydet tiedot

Bibliografiset tiedot
Julkaisussa:IEEE Transactions on fuzzy systems 13, 3 (2005).
Päätekijä: Santibanez, V.
Aineistotyyppi: Artikkeli
Kieli:English
Aiheet:
Lyapunov theory.
Actuator saturation avoidance.
Bounded torques.
Closed loop system.
Friction.
Global asymptotic stability.
Robot manipulators.
Set-point fuzzy control.
Steady state position errors.