19 December 1996 Fuzzy compensated computed torque control of a manipulator
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A great deal of research has been done in fuzzy logic control (FLC) and its applications since Mamdani's pioneering papers in 1974 and 1977. FLC has also been applied to manipulator control which is a very challenging nonlinear control problem. Both classical and advanced robot controllers have problems because of high nonlinearity or uncertainties in robot dynamics. FLC, as an alternate, suffer from lack of analytical methods for design, tuning and stability analysis. A nonlinear controller which is robust in the presence of modeling errors and disturbances is presented in this paper. A computed torque controller can be designed based on an approximate model and FLC can be used to minimize the tracking error due to modeling errors and disturbance. Since the approximate model of the system reduces the overall nonlinearity, FLC works with very simple rules and it is easy to tune.
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Seniz Ficici, Seniz Ficici, Edwin M. Sawan, Edwin M. Sawan, Behnam Bahr, Behnam Bahr, "Fuzzy compensated computed torque control of a manipulator", Proc. SPIE 2911, Advanced Sensor and Control-System Interface, (19 December 1996); doi: 10.1117/12.262501; https://doi.org/10.1117/12.262501

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