Robust Tracking Control for Robotic Manipulator via Fuzzy Logic System and H∞ Approaches
Based on fuzzy logic system (FLS) and H∞ control methodologies, a robust tracking control scheme is proposed for robotic system with uncertainties and external disturbances. FLS is employed to implement the framework of computed torque control (CTC) method via its approximate capability which is use...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Hindawi Limited
2015-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2015/459431 |