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Control of an industrial robot includes nonlinearities, uncertainties and external perturbations that should be considered in the design of control laws. Inverse dynamics control is a well-known conventional motion control strategy for manipulators which ensures global asymptotic stability for fixed symmetric positive definite (proportional and derivative) gain matrices. In this paper, a supervisory...
Control of an industrial robot includes nonlinearities, uncertainties and external perturbations that should be considered in the design of control laws. Proportional-integral-derivative (PID)-type fuzzy controller is a well-known conventional motion control strategy for manipulators which ensures global asymptotic stability. To enhance the PID-type fuzzy controller performance for the control of...
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