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.
Bibliographical noteFunding Information:
Manuscript received February 2, 2004; revised December 10, 2004 and June 21, 2005. This work was performed for the Intelligent Robotics Development Program, one of the 21st Century Frontier R&D Programs funded by the Ministry of Commerce, Industry and Energy of Korea. J. P. Hwang is with the CI Lab., School of Electrical and Electronic Engineering, Yonsei University, Seoul 120-749, Korea. E. Kim is with the C613, School of Electrical and Electronic Engineering, Yonsei University, Seoul 120-749, Korea (e-mail: firstname.lastname@example.org). Digital Object Identifier 10.1109/TFUZZ.2005.864082
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Computational Theory and Mathematics
- Artificial Intelligence
- Applied Mathematics