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Front. Inform. Technol. Electron. Eng.  2010, Vol. 11 Issue (12): 956-966    DOI: 10.1631/jzus.C0910772
    
Saturated output feedback tracking control for robot manipulators via fuzzy self-tuning
Hua-shan Liu, Shi-qiang Zhu, Zhang-wei Chen
State Key Lab of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China, College of Information Science and Technology, Donghua University, Shanghai 201620, China
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Abstract  This paper concerns the problem of output feedback tracking (OFT) control with bounded torque inputs of robot manipulators, and proposes a novel saturated OFT controller based on fuzzy self-tuning proportional and derivative (PD) gains. First, aiming to accomplish the whole closed-loop control with only position measurements, a linear filter is involved to generate a pseudo velocity error signal. Second, different from previous strategies, the arctangent function with error-gain is applied to ensure the boundedness of the torque control input, and an explicit system stability proof is made by using the theory of singularly perturbed systems. Moreover, a fuzzy self-tuning PD regulator, which guarantees the continuous stability of the overall closed-loop system, is added to obtain an adaptive performance in tackling the disturbances during tracking control. Simulation showed that the proposed controller gains more satisfactory tracking results than the others, with a better dynamic response performance and stronger anti-disturbance capability.

Key words： Robot      Tracking systems      Bounded torque input      Fuzzy control      Output feedback     
Received: 18 December 2009      Published: 09 December 2010
CLC:  TP24  
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Hua-shan Liu, Shi-qiang Zhu, Zhang-wei Chen. Saturated output feedback tracking control for robot manipulators via fuzzy self-tuning. Front. Inform. Technol. Electron. Eng., 2010, 11(12): 956-966.

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http://www.zjujournals.com/xueshu/fitee/10.1631/jzus.C0910772     OR     http://www.zjujournals.com/xueshu/fitee/Y2010/V11/I12/956


Saturated output feedback tracking control for robot manipulators via fuzzy self-tuning

This paper concerns the problem of output feedback tracking (OFT) control with bounded torque inputs of robot manipulators, and proposes a novel saturated OFT controller based on fuzzy self-tuning proportional and derivative (PD) gains. First, aiming to accomplish the whole closed-loop control with only position measurements, a linear filter is involved to generate a pseudo velocity error signal. Second, different from previous strategies, the arctangent function with error-gain is applied to ensure the boundedness of the torque control input, and an explicit system stability proof is made by using the theory of singularly perturbed systems. Moreover, a fuzzy self-tuning PD regulator, which guarantees the continuous stability of the overall closed-loop system, is added to obtain an adaptive performance in tackling the disturbances during tracking control. Simulation showed that the proposed controller gains more satisfactory tracking results than the others, with a better dynamic response performance and stronger anti-disturbance capability.

关键词： Robot,  Tracking systems,  Bounded torque input,  Fuzzy control,  Output feedback 
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