An adaptive output feedback tracking control of robot manipulator via fuzzy logic based compensation

被引：0
|
作者：
Sahin, Turker [1 ]
Eroglu, Emre [1 ]
Zergeroglu, Erkan [1 ]
机构：
[1] Gebze Inst Technol, Dept Comp Engn, PK 141, TR-41400 Kocaeli, Turkey
来源：
9TH IEEE INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL, VOLS 1 AND 2, PROCEEDINGS | 2006年
关键词：
D O I：
10.1109/AMC.2006.1631742
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this study, we consider the output feedback position tracking control of robot manipulator via a fuzzy logic adaptation compensation method which enables the use of adaptive controller techniques for the full order but not fully linearly parameterized (LP) robot dynamics. Specifically we propose an output feedback position tracking controller that achieves semi-globally ultimately bounded link position tracking despite the lack of link velocity measurements and the non-LP uncertainties associated with the robot dynamics. Simulation results are presented to illustrate the performance of the controller.
引用
收藏
页码：681 / +
页数：2
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