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• W2893195733 abstract "The dynamics of an electrically driven robot manipulator is multivariable, nonlinear and in a non-companion form. An adaptive fuzzy controller can control such a system, however it cannot obtain a precise tracking performance due to the presence of inherent fuzzy approximation error. To solve this problem, we present a novel decentralized Robust Adaptive Fuzzy Control (RAFC) of robot manipulators using voltage control strategy. In this paper, the fuzzy approximation error is compensated by a sliding mode technique to achieve a superior tracking performance. The proposed RAFC is model-free, robust, simple and the stability of the control system is guaranteed. The chattering phenomenon is reduced using an integral approach. The proposed RAFC is simulated on a SCARA robot driven by permanent magnet de motors and the results show its superiority compared to Adaptive Fuzzy Control (AFC) without approximation error compensation." @default.
• W2893195733 created "2018-10-05" @default.
• W2893195733 creator A5014820922 @default.
• W2893195733 creator A5080948415 @default.
• W2893195733 date "2018-05-01" @default.
• W2893195733 modified "2023-09-26" @default.
• W2893195733 title "Compensation of Fuzzy Approximation Error in the Control of Robot Manipulators" @default.
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• W2893195733 doi "https://doi.org/10.1109/icee.2018.8472542" @default.
• W2893195733 hasPublicationYear "2018" @default.
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