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Saturated output feedback tracking control for robot manipulators via fuzzy self-tuning

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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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Authors and Affiliations

  1. State Key Lab of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, 310027, China

    Hua-shan Liu, Shi-qiang Zhu & Zhang-wei Chen

  2. College of Information Science and Technology, Donghua University, Shanghai, 201620, China

    Hua-shan Liu

Authors
  1. Hua-shan Liu
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  2. Shi-qiang Zhu
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  3. Zhang-wei Chen
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Correspondence to Shi-qiang Zhu.

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Project (No. 2008C21106) supported by the Science and Technology Foundation of Zhejiang Province, China

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Liu, Hs., Zhu, Sq. & Chen, Zw. Saturated output feedback tracking control for robot manipulators via fuzzy self-tuning. J. Zhejiang Univ. - Sci. C 11, 956–966 (2010). https://doi.org/10.1631/jzus.C0910772

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  • DOI: https://doi.org/10.1631/jzus.C0910772

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