Discrete adaptive fuzzy control for asymptotic tracking of robotic manipulators
| Autor: | Mohammad Mehdi Fateh, Siamak Azargoshasb |
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| Rok vydání: | 2014 |
| Předmět: |
Adaptive neuro fuzzy inference system
Engineering Discretization business.industry Applied Mathematics Mechanical Engineering Aerospace Engineering Ocean Engineering Control engineering Fuzzy control system Fuzzy logic Computer Science::Robotics Control and Systems Engineering Control theory Approximation error Trajectory Electrical and Electronic Engineering Robust control business |
| Zdroj: | Nonlinear Dynamics. 78:2195-2204 |
| ISSN: | 1573-269X 0924-090X |
| DOI: | 10.1007/s11071-014-1590-z |
| Popis: | This paper presents a novel discrete adaptive fuzzy controller for electrically driven robot manipulators. It addresses how to overcome the nonlinearity, uncertainties, discretizing error and approximation error of the fuzzy system for asymptotic tracking control of robotic manipulators. The proposed controller is model-free in the form of discrete Mamdani fuzzy controller. The parameters of fuzzy controller are adaptively tuned using an adaptive mechanism derived by stability analysis. A robust control term is used to compensate the approximation error of the fuzzy system for asymptotic tracking of a desired trajectory. The controller is robust against all uncertainties associated with the robot manipulator and actuators. It is easy to implement since it requires only the joint position feedback. Compared with fuzzy controllers which employ all states to guarantee stability, the proposed controller is very simpler. Stability analysis and simulation results show its efficiency in the tracking control. |
| Databáze: | OpenAIRE |
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