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...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2011-09-01
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| Series: | International Journal of Advanced Robotic Systems |
| Subjects: | |
| Online Access: | http://www.intechopen.com/articles/show/title/fuzzy_saturated_output_feedback_tracking_control_for_robot_manipulators_a_singular_perturbation_theo |