TY - JOUR ID - 333 TI - Discrete time robust control of robot manipulators in the task space using adaptive fuzzy estimator JO - Journal of AI and Data Mining JA - JADM LA - en SN - 2322-5211 AU - Fateh, M. M. AU - Azargoshasb, S. AD - Electrical Engineering Department, University of Shahrood, Shahrood, Iran. Y1 - 2015 PY - 2015 VL - 3 IS - 1 SP - 113 EP - 120 KW - Discrete Control KW - Uncertainty Estimator KW - Free-model Control KW - Adaptive Fuzzy Estimator KW - Task-space KW - SCARA Robot DO - 10.5829/idosi.JAIDM.2015.03.01.12 N2 - This paper presents a discrete-time robust control for electrically driven robot manipulators in the task space. A novel discrete-time model-free control law is proposed by employing an adaptive fuzzy estimator for the compensation of the uncertainty including model uncertainty, external disturbances and discretization error. Parameters of the fuzzy estimator are adapted to minimize the estimation error using a gradient descent algorithm. The proposed discrete control is robust against all uncertainties as verified by stability analysis. The proposed robust control law is simulated on a SCARA robot driven by permanent magnet dc motors. Simulation results show the effectiveness of the control approach. UR - https://jad.shahroodut.ac.ir/article_333.html L1 - https://jad.shahroodut.ac.ir/article_333_0266cd24947152c098635e88f364f904.pdf ER -