A computed torque controller for uncertain robotic manipulator systems: Fuzzy approach


Computed Torque Control (CTC) is an effective motion control strategy for robotic manipulator systems, which can ensure globally asymptotic stability. However, CTC scheme requires precise dynamical models of robotic manipulators. To handle this impossibility, in this paper, a new approach combing CTC and Fuzzy Control (FC) is developed for trajectory… (More)
DOI: 10.1016/j.fss.2005.03.007


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