A Fuzzy Robust Controller with Saturation for Robot Manipulators

로봇 매니퓰레이터의 포화요소를 갖는 퍼지견실 제어

A robust controller design to corrdinate a robot manipulator under unknown system parameters and bounded disturbance inputs is presented in this paper. Generally, robust controllers require high input torque so that they may face input saturation in actual application due to the power limitation of the actuator. To solve this problem, an improved robust controller with saturated input torque using a fuzzy logic control is proposed. Numerical examples are shown to validate the proposed controller using two degree-of-freedom planar arm.