Robust tracking control of an electrically driven robot: Adaptive fuzzy logic approach

Jae Pil Hwang, Euntai Kim

Research output: Contribution to journalArticle

82 Citations (Scopus)


This paper is concerned with the robust tracking control of an electrically driven robot with the model uncertainties in the robot dynamics and the motor dynamics. The motors driving the joints of the robot are assumed to be equipped with only the joint position and the current measurement devices. Adaptive fuzzy logic and adaptive backstepping method are employed to provide the solution to the control problem. The suggested method does not require the measurement of the velocity nor the acceleration. Simulation results from a two-link electrically driven robot show the satisfactory performance of the proposed control scheme even in the presence of internal model uncertainties in both the robot and motor dynamics and external disturbances.

Original languageEnglish
Pages (from-to)232-247
Number of pages16
JournalIEEE Transactions on Fuzzy Systems
Issue number2
Publication statusPublished - 2006 Apr 1

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computational Theory and Mathematics
  • Artificial Intelligence
  • Applied Mathematics

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