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Robust model-based fuzzy-logic controller for robot manipulators
University of Toronto.ORCID iD: 0000-0003-4977-6339
University of Toronto.
University of Toronto.
1998 (English)In: 1998 IEEE International Conference on Robotics and Automation, Leuven, Belgium, 16-20 May 1998: Proceedings, Piscataway, NJ: IEEE Communications Society, 1998, Vol. 3, p. 2500-2505Conference paper, Published paper (Refereed)
Abstract [en]

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.

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE Communications Society, 1998. Vol. 3, p. 2500-2505
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Onboard space systems
Identifiers
URN: urn:nbn:se:ltu:diva-27479DOI: 10.1109/ROBOT.1998.680717Scopus ID: 31642862Local ID: 0f34c03c-f8ba-4176-a317-ce57d1dae47bOAI: oai:DiVA.org:ltu-27479DiVA, id: diva2:1000663
Conference
IEEE International Conference on Robotics and Automation : 16/05/1998 - 20/05/1998
Note
Upprättat; 1998; 20150109 (ninhul)Available from: 2016-09-30 Created: 2016-09-30 Last updated: 2017-12-15Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
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  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
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