Repetitive control of electrically driven robot manipulators

Fateh, Mohammad Mehdi; Tehrani, H. Mazaheri; Karbassi, S. M.

doi:10.1080/00207721.2011.625478

Cited by 40 publications

(24 citation statements)

References 26 publications

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“…Stability analysis of the control system is presented to evaluate the proposed PRFC in (18). The proposed control approach is a decentralized control.…”

Section: Stability Analysismentioning

confidence: 99%

“…The proposed controller (18) has been developed by improving the PD-like fuzzy controller. Therefore, we prefer to compare it with the PD-like fuzzy controller to show its superiority.…”

Section: Pd-like Fuzzy Controlmentioning

confidence: 99%

“…Simulation 1. We simulate the proposed PRFC given by (18) by selecting the controller gains as given in Table 5 and umax = 42 V. The external disturbance is inserted to the system by a pulse function with a period of 4 s, amplitude of 1 V, phase delay of 1 s and pulse width of 2 s. The decentralized PRFC shows a satisfactory performance under the given disturbance in Fig. 3 such that the value of tracking error for joint 3 reaches −3.7 × 10 −6 m at the end which is ignorable.…”

Section: Simulationsmentioning

confidence: 99%

“…This advantage provides a simple control design in a decentralized structure, thus makes it superior to the torque control strategy. Following our research, we have proposed robust voltage control laws for electrically driven robots in the form of fuzzy control [14] , taskspace control [15] , time-delay control [16] , adaptive control [17] , repetitive control [18] and adaptive fuzzy estimation of uncertainty [19] . This paper presents the design and analysis of a novel decentralized precise robust fuzzy control (PRFC) of electrically driven robot manipulators using the VCS and convergence analysis.…”

Section: Introductionmentioning

confidence: 99%

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A Precise Robust Fuzzy Control of Robots Using Voltage Control Strategy

Fateh

2013

Int. J. Autom. Comput.

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Fuzzy control of robot manipulators with a decentralized structure is facing a serious challenge. The state-space model of a robotic system including the robot manipulator and motors is in non-companion form, multivariable, highly nonlinear, and heavily coupled with a variable input gain matrix. Considering the problem, causes and solutions, we use voltage control strategy and convergence analysis to design a novel precise robust fuzzy control (PRFC) approach for electrically driven robot manipulators. The proposed fuzzy controller is Mamdani type and has a decentralized structure with guaranteed stability. In order to obtain a precise response, we regulate a fuzzy rule which governs the origin of the tracking space. The proposed design is verified by stability analysis. Simulations illustrate the superiority of the PRFC over a proprotional derivative like (PD-like) fuzzy controller applied on a selective compliant assembly robot arm (SCARA) driven by permanent magnet DC motors.

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“…Stability analysis of the control system is presented to evaluate the proposed PRFC in (18). The proposed control approach is a decentralized control.…”

Section: Stability Analysismentioning

confidence: 99%

“…The proposed controller (18) has been developed by improving the PD-like fuzzy controller. Therefore, we prefer to compare it with the PD-like fuzzy controller to show its superiority.…”

Section: Pd-like Fuzzy Controlmentioning

confidence: 99%

Section: Simulationsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A Precise Robust Fuzzy Control of Robots Using Voltage Control Strategy

Fateh

2013

Int. J. Autom. Comput.

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“…A Lyapunov-based repetitive learning control was presented to have a good tracking performance in the presence of unknown nonlinear dynamics with a known period [8]. A robust repetitive control was developed and can compensate uncertainties including the structured uncertainty and unstructured uncertainty [9]. Time delay method [10] and uncertainty estimation [11] can be used to control the robot manipulator by estimating the unknown dynamics and disturbances.…”

Section: Introductionmentioning

confidence: 99%

Discrete-time repetitive optimal control: Robotic manipulators

Fateh

Baluchzadeh²

2016

JAIDM

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This paper proposes a discrete-time repetitive optimal control of electrically driven robotic manipulators using an uncertainty estimator. The proposed control method can be used for performing repetitive motion, which covers many industrial applications of robotic manipulators. This kind of control law is in the class of torque-based control in which the joint torques are generated by permanent magnet dc motors in the current mode. The motor current is regulated using a proportional-integral controller. The novelty of this paper is a modification in using the discrete-time linear quadratic control for the robot manipulator, which is a nonlinear uncertain system. For this purpose, a novel discrete linear time-variant model is introduced for the robotic system. Then, a time-delay uncertainty estimator is added to the discrete-time linear quadratic control to compensate the nonlinearity and uncertainty associated with the model. The proposed control approach is verified by stability analysis. Simulation results show the superiority of the proposed discrete-time repetitive optimal control over the discrete-time linear quadratic control.

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