Output feedback tracking control of robot manipulators with model uncertainty via adaptive fuzzy logic

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156 Citations (Scopus)


Many robot controllers require not only joint position measurements but also joint velocity measurements; however, most robotic systems are only equipped with joint position measurement devices. In this paper, a new output feedback tracking control approach is developed for the robot manipulators with model uncertainty. The approach suggested herein does not require velocity measurements and employes the adaptive fuzzy logic. The adaptive fuzzy logic allows us to approximate uncertain and nonlinear robot dynamics. Only one fuzzy system is used to implement the observer-controller structure of the output feedback robot system. It is shown in a rigorous manner that all the signals in a closed loop composed of a robot, an observer, and a controller are uniformly ultimately bounded. Finally, computer simulation results on three-link robot manipulators are presented to show the results which indicate good position tracking performance and robustness against payload uncertainty and external disturbances.

Original languageEnglish
Pages (from-to)368-378
Number of pages11
JournalIEEE Transactions on Fuzzy Systems
Issue number3
Publication statusPublished - 2004 Jun

Bibliographical note

Funding Information:
Manuscript received April 18, 2001; revised September 16, 2002 and August 25, 2003. This work was supported by the 21C Frontier project (the intelligent robot technology) of the Ministry of Science and Technology (MOST) of Korea. The author is with the C613, School of Electrical and Electronic Engineering, Yonsei University, 120-749 Seoul, Korea (e-mail: etkim@yonsei.ac.kr). Digital Object Identifier 10.1109/TFUZZ.2004.825062

All Science Journal Classification (ASJC) codes

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


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