A robust model-based fuzzy-logic controller for robot manipulators

• This paper represents a fuzzy-logic control structure, containing the fuzzy-logic model of the dynamic system and fuzzy control rules that ensure the stability and robust performance. The robust fuzzy rules are designed based on a generalized formulation of sliding mode control for a class of nonlinear multi-input multi-output systems. The proposed fuzzy-logic control scheme was applied to the trajectory control of a four degree-of-freedom robot, and compared with the high-gain PID controllers. A superior tracking performance was achieved.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Annan elektroteknik och elektronik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Other Electrical Engineering, Electronic Engineering, Information Engineering (hsv//eng)

Nyckelord

Onboard space systems

Rymdtekniska system

Publikations- och innehållstyp

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