Robust control of electrically driven robots by adaptive fuzzy estimation of uncertainty

Fateh, Mohammad Mehdi; Khorashadizadeh, Saeed

doi:10.1007/s11071-012-0362-x

Cited by 95 publications

(79 citation statements)

References 17 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…International organization of Scientific Research 9 | P a g e [=1 (25) Hence the assumption (A2) has been used. Not that From the proof and analysis above we know that the function is negative and vanishes if and only if e(t) = 0; thus the position tracking error goes to zero as time goes to infinity; namely, lim →∞ = 0.…”

Section: Novel Adaptive Pid Control Of Flexible Joint Robot Manipulatmentioning

confidence: 99%

See 1 more Smart Citation

Novel Adaptive PID Control of Flexible Joint Robot Manipulator withBounded Disturbances

Doghiem¹

2014

IOSRJEN

View full text Add to dashboard Cite

-A novel robust adaptive PID control scheme is proposed with known upper bound of the external disturbances, to solve the dynamic coupling and strong nonlinearity problems in flexible joint robot manipulator control. Invoking the proposed controller, the bounded external disturbances can be compensated and the global asymptotical stability with respect to the manipulator positions and velocities is able to be guaranteed. The designed control law can enlarge the tolerable external disturbances, enhance the accuracy of trajectory tracking error, and improve the dynamic performance of the manipulator systems. The stability and convergence properties of the closed-loop system are analytically proved using Lyapunov stability theory and Barbalat's lemma. Simulation for the proposed control system is performed for a two-degree of freedom flexible joint robot, each joint modeled by two-equations of second order to illustrate its viability, and advantages.

show abstract

Section: Novel Adaptive Pid Control Of Flexible Joint Robot Manipulatmentioning

confidence: 99%

“…A novel robust decentralized control scheme by adaptive fuzzy estimation and compensation uncertainty is proposed by [25]. The controller is designed via voltage control strategy, a fuzzy system is used to estimate and compensate uncertainty.…”

Section: Introductionmentioning

confidence: 99%

Novel Adaptive PID Control of Flexible Joint Robot Manipulator withBounded Disturbances

Doghiem¹

2014

IOSRJEN

View full text Add to dashboard Cite

show abstract

“…whereŷ y y is given by (13) aŝ y y y = 42 28 14 28ŷ5 −28 −14 −28 −42 (19) whereŷ5 is expressed in (17), ψ ψ ψ = ψ1, · · ·, ψ9 T , ψ l is a positive value expressed as…”

Section: Convergence Analysismentioning

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%

A Precise Robust Fuzzy Control of Robots Using Voltage Control Strategy

Fateh

2013

Int. J. Autom. Comput.

Self Cite

View full text Add to dashboard Cite

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.

show abstract

“…To deal with the model uncertainty, previous researches used various methods such as neural network [1,2], fuzzy logic [3,4], and adaptive control technique [5,6]. Aforementioned papers are useful to compensate the model uncertainty, but it has the disadvantage due to the complexity of the controller.…”

Section: Introductionmentioning

confidence: 99%

Control of a Segway with unknown control coefficient and input constraint

Park

2016

IJFIS

View full text Add to dashboard Cite

This paper proposes a control method of the Segway with unknown control coefficient and input saturation. To design a simple controller for the Segway with the model uncertainty, the prescribed performance function is used. Furthermore, an auxiliary variable is introduced to deal with unknown time-varying control coefficient and input saturation problem. Due to the auxiliary variable, function approximators are not used in this paper although all model uncertainties are unknown. Thus, the controller can be simple. From the Lyapunov stability theory, it is proved that all errors of the proposed control system remain within the prescribed performance bounds. Finally, the simulation results are presented to demonstrate the performance of the proposed scheme.

show abstract

Robust control of electrically driven robots by adaptive fuzzy estimation of uncertainty

Cited by 95 publications

References 17 publications

Novel Adaptive PID Control of Flexible Joint Robot Manipulator withBounded Disturbances

Novel Adaptive PID Control of Flexible Joint Robot Manipulator withBounded Disturbances

A Precise Robust Fuzzy Control of Robots Using Voltage Control Strategy

Control of a Segway with unknown control coefficient and input constraint

Contact Info

Product

Resources

About