Related Experiment Video
Updated: Jun 21, 2026
11:53
The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
Published on: October 14, 2017
Event-triggered fuzzy logic control for an uncertain robot with coupled output constraints
Yuncheng Ouyang1, Zihao Ding1, Yanxu Su1
1School of Artificial Intelligence, the Engineering Research Center of Autonomous Unmanned System Technology, Ministry of Education, and Anhui Provincial Engineering Research Center for Unmanned System and Intelligent Technology, Anhui University, Hefei, China.
ISA Transactions
|June 19, 2026
Summary
This study addresses robotic trajectory tracking with output constraints. A novel decoupling method and fuzzy logic systems ensure constraint satisfaction and accurate tracking for uncertain robotic systems.
Area of Science:
- Robotics
- Control Systems Engineering
- Artificial Intelligence
Background:
- Robotic systems often face challenges with trajectory tracking due to uncertain dynamics and coupled output constraints.
- Ensuring that robotic systems adhere to operational boundaries is critical for safety and performance.
Purpose of the Study:
- To develop a robust control strategy for uncertain robotic systems that guarantees trajectory tracking under coupled output constraints.
- To enhance control efficiency by minimizing data transmission and controller updates.
Main Methods:
- A decoupling approach transforms coupled constraints into independent ones.
- A time-varying barrier Lyapunov function (TVBLF) is used for constraint enforcement.
- Fuzzy logic systems (FLSs) approximate unknown system dynamics.
- A state-based event-triggered mechanism (ETM) optimizes controller updates.
Main Results:
- The proposed method successfully enforces coupled output constraints.
- Fuzzy logic systems effectively handle system uncertainties.
- The event-triggered mechanism reduces communication load without compromising tracking performance.
- Lyapunov stability analysis confirms the control scheme's feasibility.
Conclusions:
- The developed control scheme provides an effective solution for trajectory tracking in uncertain robotic systems with coupled output constraints.
- The integration of TVBLF, FLSs, and ETM offers a promising approach for robust and efficient robotic control.
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