TY - GEN
T1 - Fuzzy logic control of an uncertain manipulator with full-state constraints
AU - Yu, Xinbo
AU - He, Wei
AU - Xue, Chengqian
AU - Sun, Wenyan
AU - Sun, Changyin
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/6
Y1 - 2018/7/6
N2 - In this paper, a fuzzy logic control strategy is proposed for solving trajectory tracking control issues of an uncertain manipulator. Fuzzy logic is utilized to compensate for manipulator dynamics uncertainties and full-state constraints are involved in full-state feedback controller design. The proposed method can guarantee error signals in closed-loop system semi-globally uniformly bounded (SGUB). In view of safe operation, tangent barrier Lyapunov functions (tBLFs) are chosen to maintain full states in a predefined constrained region in tracking processes. Finally, simulation results are carried out to show the effectiveness of our proposed control strategy.
AB - In this paper, a fuzzy logic control strategy is proposed for solving trajectory tracking control issues of an uncertain manipulator. Fuzzy logic is utilized to compensate for manipulator dynamics uncertainties and full-state constraints are involved in full-state feedback controller design. The proposed method can guarantee error signals in closed-loop system semi-globally uniformly bounded (SGUB). In view of safe operation, tangent barrier Lyapunov functions (tBLFs) are chosen to maintain full states in a predefined constrained region in tracking processes. Finally, simulation results are carried out to show the effectiveness of our proposed control strategy.
KW - Full-state constraints
KW - Full-state feedback
KW - Fuzzy logic control
KW - Semi-globally uniformly bounded (SGUB)
KW - Uncertain manipulator
UR - https://www.scopus.com/pages/publications/85050597990
U2 - 10.1109/YAC.2018.8406360
DO - 10.1109/YAC.2018.8406360
M3 - 会议稿件
AN - SCOPUS:85050597990
T3 - Proceedings - 2018 33rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2018
SP - 135
EP - 139
BT - Proceedings - 2018 33rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 33rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2018
Y2 - 18 May 2018 through 20 May 2018
ER -