A stable motion control system for manipulators via fuzzy self-tuning☆
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Cited by (38)
Saturated regulation with derivative variable gain for robot manipulators
2017, RIAI - Revista Iberoamericana de Automatica e Informatica IndustrialRobust nonlinear PID-like fuzzy logic control of a planar parallel (2PRP-PPR) manipulator
2016, ISA TransactionsCitation Excerpt :In such situations, intelligent control techniques such as fuzzy logic control (FLC), neural network control etc. can be useful. In recent years, some intelligent control techniques such as fuzzy logic control, neural network control and their hybrid combinations have been successfully applied to robotic manipulators [38–50]. However, these control techniques involve complex designing methods and control structures.
Robust design of a 2-DOF GMV controller: A direct self-tuning and fuzzy scheduling approach
2012, ISA TransactionsCitation Excerpt :Despite all the tools and techniques derived from the Robust Control Theory to deal with Plant-Model-Mismatch (PMM) issues in controller design, there exist ways to adapt a model in order to follow process behavior changes, like online identification, that could diminish PMM so designs made in real time–say it online–become more accurate and every control strategy adopted would benefit from it. In the sense presented above, this paper aims at hybridization of adaptive control with Generalized Minimum Variance Control (GMVC) [2,3] in two ways: (i) by means of online identification through a Recursive Least Squares (RLS) estimator in order to constantly update directly the controller and the control law, and (ii) by means of scheduling the GMV controller parameters with a Mamdani fuzzy logic controller [4–6] based on robust design criteria. Both adaptive techniques chosen, in fact, lay in a state of dependence with GMVC to provide good control results.
Global saturated regulator with variable gains for robot manipulators
2021, Journal of Robotics and Control (JRC)
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Work partially supported by grant CONACyT-SC-980003 and COSNET