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...
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Online Access: | http://dx.doi.org/10.1155/2015/459431 |
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doaj-ff32c76e66f54cdfb72c28b1a6948c9d2020-11-24T21:49:00ZengHindawi LimitedJournal of Control Science and Engineering1687-52491687-52572015-01-01201510.1155/2015/459431459431Robust Tracking Control for Robotic Manipulator via Fuzzy Logic System and H∞ ApproachesKun Mu0Cong Liu1Jinzhu Peng2Department of Computer Science and Engineering, Henan Institute of Engineering, Zhengzhou, Henan 451191, ChinaCollege of Information & Business, Zhongyuan University of Technology, Zhengzhou, Henan 450001, ChinaSchool of Electrical Engineering, Zhengzhou University, Zhengzhou, Henan 450007, ChinaBased 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 used to attenuate the nonlinearity of robotic manipulator. The robust H∞ control can guarantee robustness to parametric and dynamics uncertainties and also attenuate the effect of immeasurable external disturbances entering the system. Moreover, a quadratic stability approach is used to reduce the conservatism of the conventional robust control approach. It can be guaranteed that all signals in the closed-loop are bounded by employing the proposed robust tracking control. The validity of the proposed control scheme is shown by simulation of a two-link robotic manipulator.http://dx.doi.org/10.1155/2015/459431 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Kun Mu Cong Liu Jinzhu Peng |
spellingShingle |
Kun Mu Cong Liu Jinzhu Peng Robust Tracking Control for Robotic Manipulator via Fuzzy Logic System and H∞ Approaches Journal of Control Science and Engineering |
author_facet |
Kun Mu Cong Liu Jinzhu Peng |
author_sort |
Kun Mu |
title |
Robust Tracking Control for Robotic Manipulator via Fuzzy Logic System and H∞ Approaches |
title_short |
Robust Tracking Control for Robotic Manipulator via Fuzzy Logic System and H∞ Approaches |
title_full |
Robust Tracking Control for Robotic Manipulator via Fuzzy Logic System and H∞ Approaches |
title_fullStr |
Robust Tracking Control for Robotic Manipulator via Fuzzy Logic System and H∞ Approaches |
title_full_unstemmed |
Robust Tracking Control for Robotic Manipulator via Fuzzy Logic System and H∞ Approaches |
title_sort |
robust tracking control for robotic manipulator via fuzzy logic system and h∞ approaches |
publisher |
Hindawi Limited |
series |
Journal of Control Science and Engineering |
issn |
1687-5249 1687-5257 |
publishDate |
2015-01-01 |
description |
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 used to attenuate the nonlinearity of robotic manipulator. The robust H∞ control can guarantee robustness to parametric and dynamics uncertainties and also attenuate the effect of immeasurable external disturbances entering the system. Moreover, a quadratic stability approach is used to reduce the conservatism of the conventional robust control approach. It can be guaranteed that all signals in the closed-loop are bounded by employing the proposed robust tracking control. The validity of the proposed control scheme is shown by simulation of a two-link robotic manipulator. |
url |
http://dx.doi.org/10.1155/2015/459431 |
work_keys_str_mv |
AT kunmu robusttrackingcontrolforroboticmanipulatorviafuzzylogicsystemandhapproaches AT congliu robusttrackingcontrolforroboticmanipulatorviafuzzylogicsystemandhapproaches AT jinzhupeng robusttrackingcontrolforroboticmanipulatorviafuzzylogicsystemandhapproaches |
_version_ |
1725890041277841408 |