CLC number: TP24
On-line Access: 2024-08-27
Received: 2023-10-17
Revision Accepted: 2024-05-08
Crosschecked: 2010-11-12
Cited: 11
Clicked: 9041
Hua-shan Liu, Shi-qiang Zhu, Zhang-wei Chen. Saturated output feedback tracking control for robot manipulators via fuzzy self-tuning[J]. Journal of Zhejiang University Science C, 2010, 11(12): 956-966.
@article{title="Saturated output feedback tracking control for robot manipulators via fuzzy self-tuning",
author="Hua-shan Liu, Shi-qiang Zhu, Zhang-wei Chen",
journal="Journal of Zhejiang University Science C",
volume="11",
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pages="956-966",
year="2010",
publisher="Zhejiang University Press & Springer",
doi="10.1631/jzus.C0910772"
}
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%T Saturated output feedback tracking control for robot manipulators via fuzzy self-tuning
%A Hua-shan Liu
%A Shi-qiang Zhu
%A Zhang-wei Chen
%J Journal of Zhejiang University SCIENCE C
%V 11
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%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.C0910772
TY - JOUR
T1 - Saturated output feedback tracking control for robot manipulators via fuzzy self-tuning
A1 - Hua-shan Liu
A1 - Shi-qiang Zhu
A1 - Zhang-wei Chen
J0 - Journal of Zhejiang University Science C
VL - 11
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SP - 956
EP - 966
%@ 1869-1951
Y1 - 2010
PB - Zhejiang University Press & Springer
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DOI - 10.1631/jzus.C0910772
Abstract: This paper concerns the problem of output feedback tracking (OFT) control with bounded torque inputs of robot manipulators, and proposes a novel saturated OFT controller based on fuzzy self-tuning proportional and derivative (PD) gains. First, aiming to accomplish the whole closed-loop control with only position measurements, a linear filter is involved to generate a pseudo velocity error signal. Second, different from previous strategies, the arctangent function with error-gain is applied to ensure the boundedness of the torque control input, and an explicit system stability proof is made by using the theory of singularly perturbed systems. Moreover, a fuzzy self-tuning PD regulator, which guarantees the continuous stability of the overall closed-loop system, is added to obtain an adaptive performance in tackling the disturbances during tracking control. Simulation showed that the proposed controller gains more satisfactory tracking results than the others, with a better dynamic response performance and stronger anti-disturbance capability.
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