Intelligent Control and Automation

Volume 2, Issue 4 (November 2011)

ISSN Print: 2153-0653   ISSN Online: 2153-0661

Google-based Impact Factor: 0.70  Citations  

An Adaptive Fuzzy Controller for Trajectory Tracking of Robot Manipulator

HTML  Download Download as PDF (Size: 376KB)  PP. 364-370  
DOI: 10.4236/ica.2011.24041    5,547 Downloads   9,220 Views  Citations

Affiliation(s)

.

ABSTRACT

In this paper, an adaptive fuzzy control algorithm is proposed for trajectory tracking of an n-DOF robot manipulator subjected to parametric uncertainty and it is advantageous compared to the conventional nonlinear saturation controller. The asymptotic stability of the proposed controller has been derived based on Lyapunaov energy function. The design procedure is straightforward due to its simple fuzzy rules and control strategies. The simulation results show that the present control strategy effectively reduces the control effort with negligible chattering in control torque signals in comparison to the existing nonlinear saturation controller.

Share and Cite:

Khalate, A. , Leena, G. and Ray, G. (2011) An Adaptive Fuzzy Controller for Trajectory Tracking of Robot Manipulator. Intelligent Control and Automation, 2, 364-370. doi: 10.4236/ica.2011.24041.

Cited by

[1] A Robust Controller Design for Simple Robotic Human Arm
Indonesian Journal of …, 2022
[2] Grasshopper Algorithm based Fuzzy system for Trajectory Tracking of Robot Manipulator
… Conference on Electrical …, 2022
[3] Design and Testing of Elbow-Actuated Wearable Robotic Arm for Muscular Disorders
2021
[4] Real–Time Model Reference Adaptive Fuzzy Control of a 3DOF Robot Arm
2020
[5] Adaptive neural network force tracking impedance control for uncertain robotic manipulator based on nonlinear velocity observer
2019
[6] Machine Learning for an Adaptive Rule Base
2018
[7] Adaptive Robotic Arm Control using Artificial Neural Network
2018
[8] Arm Robot Manipulator Design and Control for Trajectory Tracking; a Review
2018
[9] Fuzzy Logic-Controlled 6-DOF Robotic Arm Color-based Sorter with Machine Vision Feedback
2018
[10] Dynamic Analysis of Two-Link Robot Manipulator for Control Design
Advances in Communication, Devices and Networking, 2018
[11] Fuzzy Rule Formulation Algorithm for Fuzzy Logic-Based 6-DOF Robot Arm Controller
Journal of Advanced Computational Intelligence and Intelligent Informatics, 2018
[12] Robustness analysis of a simple and augmented PD controller in trajectory following robots using the Floquet theory
2018
[13] Robustness Analysis of a Simple and Augmented Proportional Plus Derivative Controller in Trajectory Following Robots Using the Floquet Theory
2018
[14] A Study of Two Problems in Nonlinear Dynamics Using the Method of Multiple Scales
2018
[15] Design and implementation of a fuzzy logic-based joint controller on a 6-DOF robot arm with machine vision feedback
2017
[16] Investigation of adaptive control of robot manipulators with uncertain features for trajectory tracking employing HIL simulation technique
2017
[17] Study on Steering Angle Input during the Automated Lane Change of Electric Vehicle
2017
[18] Asymptotic stability and chaotic motions in trajectory following feedback controlled robots
Journal of Computational and Nonlinear Dynamics, 2016
[19] AUTMan: Design, Development and Control of Multi-DoF Manipulators for use in Robotics and Automation Demands
2016
[20] Dynamic analysis of two link robot manipulator for control design using PID computed torque control
International Journal of Robotics and …, 2016
[21] INVESTIGATION OF TRAJECTORY TRACKING FRACTIONAL ORDER CONTROLLER FOR ROBOT MANIPULATOR EMPLOYING HIL SIMULATION TECHNIQUE
Journal of Electrical Engineering, 2016
[22] Universal Robust Adaptive Control of Robot Manipulators Using Real Time Estimation
IFAC MICNON 2015, 2015
[23] Dynamic analysis Of two link robot manipulator for control design using computed torque control
2015
[24] Control Design of Exoskeleton for Lower Extremity Rehabilitation
2014

Journals Menu
Follow SCIRP
Contact us
+1 323-425-8868
customer@scirp.org
WhatsApp +86 18163351462(WhatsApp)
Click here to send a message to me 1655362766
Paper Publishing WeChat

Copyright © 2024 by authors and Scientific Research Publishing Inc.

Creative Commons License

This work and the related PDF file are licensed under a Creative Commons Attribution 4.0 International License.