Fuzzy Saturated Output Feedback Tracking Control for Robot Manipulators: A Singular Perturbation Theory Based Approach
To deal with the problem of the output feedback tracking (OFT) control with bounded torque inputs of robot manipulators, we propose a generalized fuzzy saturated OFT controller based on singular perturbation theory. First, considering the fact that the output toque of joint actuators is limited, a g...
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2011-09-01
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Series: | International Journal of Advanced Robotic Systems |
Online Access: | https://doi.org/10.5772/45690 |
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doaj-358af1009f644b87b41f3ad2243863122020-11-25T03:44:11ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142011-09-01810.5772/4569010.5772_45690Fuzzy Saturated Output Feedback Tracking Control for Robot Manipulators: A Singular Perturbation Theory Based ApproachHuashan Liu0Kuangrong Hao1Xiaobo Lai2 College of Information Science and Technology, Donghua University, Shanghai, China College of Information Science and Technology, Donghua University, Shanghai, China College of Information Technology, Zhejiang Chinese Medical University, Hangzhou, ChinaTo deal with the problem of the output feedback tracking (OFT) control with bounded torque inputs of robot manipulators, we propose a generalized fuzzy saturated OFT controller based on singular perturbation theory. First, considering the fact that the output toque of joint actuators is limited, a general expression for a class of saturation functions is given to be applied in the control law. Second, to carry out the whole closed-loop control with only position measurements, linear and nonlinear filters are optionally involved to generate a pseudo signal to surrogate the actual velocity tracking error. As a third contribution, a fuzzy regulator is added to obtain a self-tuning performance in tackling the disturbances. Moreover, an explicit but strict stability proof of the system based on the stability theory of singularly perturbed systems is presented. Finally, numerical simulations on several sample controllers are implemented to verify the effectiveness of the proposed approach.https://doi.org/10.5772/45690 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Huashan Liu Kuangrong Hao Xiaobo Lai |
spellingShingle |
Huashan Liu Kuangrong Hao Xiaobo Lai Fuzzy Saturated Output Feedback Tracking Control for Robot Manipulators: A Singular Perturbation Theory Based Approach International Journal of Advanced Robotic Systems |
author_facet |
Huashan Liu Kuangrong Hao Xiaobo Lai |
author_sort |
Huashan Liu |
title |
Fuzzy Saturated Output Feedback Tracking Control for Robot Manipulators: A Singular Perturbation Theory Based Approach |
title_short |
Fuzzy Saturated Output Feedback Tracking Control for Robot Manipulators: A Singular Perturbation Theory Based Approach |
title_full |
Fuzzy Saturated Output Feedback Tracking Control for Robot Manipulators: A Singular Perturbation Theory Based Approach |
title_fullStr |
Fuzzy Saturated Output Feedback Tracking Control for Robot Manipulators: A Singular Perturbation Theory Based Approach |
title_full_unstemmed |
Fuzzy Saturated Output Feedback Tracking Control for Robot Manipulators: A Singular Perturbation Theory Based Approach |
title_sort |
fuzzy saturated output feedback tracking control for robot manipulators: a singular perturbation theory based approach |
publisher |
SAGE Publishing |
series |
International Journal of Advanced Robotic Systems |
issn |
1729-8814 |
publishDate |
2011-09-01 |
description |
To deal with the problem of the output feedback tracking (OFT) control with bounded torque inputs of robot manipulators, we propose a generalized fuzzy saturated OFT controller based on singular perturbation theory. First, considering the fact that the output toque of joint actuators is limited, a general expression for a class of saturation functions is given to be applied in the control law. Second, to carry out the whole closed-loop control with only position measurements, linear and nonlinear filters are optionally involved to generate a pseudo signal to surrogate the actual velocity tracking error. As a third contribution, a fuzzy regulator is added to obtain a self-tuning performance in tackling the disturbances. Moreover, an explicit but strict stability proof of the system based on the stability theory of singularly perturbed systems is presented. Finally, numerical simulations on several sample controllers are implemented to verify the effectiveness of the proposed approach. |
url |
https://doi.org/10.5772/45690 |
work_keys_str_mv |
AT huashanliu fuzzysaturatedoutputfeedbacktrackingcontrolforrobotmanipulatorsasingularperturbationtheorybasedapproach AT kuangronghao fuzzysaturatedoutputfeedbacktrackingcontrolforrobotmanipulatorsasingularperturbationtheorybasedapproach AT xiaobolai fuzzysaturatedoutputfeedbacktrackingcontrolforrobotmanipulatorsasingularperturbationtheorybasedapproach |
_version_ |
1724515707624882176 |