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In our study, we provide a Fuzzy Nonlinear Computed Torque Controller (FNCTC) for robot. The Nonlinear Computed Torque Controller (NCTC) is formed by altering the linear proportional-derivative algorithm in the conventional computed torque controller with the nonlinear Proportional-Derivative (PD) method. Fuzzy Logic Control (FLC) is used to approximate uncertainties inside the system. By using the Lyapunov stability theorem, it is demonstrated that the system is stable when configured with the FNCTC. The efficacy of the FNCTC is validated by simulations conducted using the pendubot and by making comparisons with the NCTC.

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Fuzzy Nonlinear Computed Torque Controller for Robot with Fault

  • 会议论文

  • 发表日期：

    2025年

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  • Van-Truong Nguyen,
  • Hai-Binh Giap,
  • Dinh-Tan Nguyen,
  • Ngoc-Binh Nguyen,
  • Van-Tuan Nguyen

摘要

In our study, we provide a Fuzzy Nonlinear Computed Torque Controller (FNCTC) for robot. The Nonlinear Computed Torque Controller (NCTC) is formed by altering the linear proportional-derivative algorithm in the conventional computed torque controller with the nonlinear Proportional-Derivative (PD) method. Fuzzy Logic Control (FLC) is used to approximate uncertainties inside the system. By using the Lyapunov stability theorem, it is demonstrated that the system is stable when configured with the FNCTC. The efficacy of the FNCTC is validated by simulations conducted using the pendubot and by making comparisons with the NCTC.