Journal ArticleDOI
Observer-based adaptive control of robot manipulators: Fuzzy systems approach
Noureddine Goléa,A. Golea,Kamel Barra,Tarek Bouktir +3 more
- Vol. 8, Iss: 1, pp 778-787
TLDR
This paper presents a fuzzy adaptive control suitable for motion control of multi-link robot manipulators with structured and unstructured uncertainties and shows that required stability conditions can be formulated as LMI problems and solved using dedicated software.Abstract:
This paper presents a fuzzy adaptive control suitable for motion control of multi-link robot manipulators with structured and unstructured uncertainties. When joint velocities are available, full state fuzzy adaptive feedback control is designed to ensure the stability of the closed loop dynamic. If the joint velocities are not measurable, an observer is introduced and an adaptive output feedback control is designed based on the estimated velocities. In the proposed control scheme, we need not derive the linear formulation of robot dynamic equation and tune the parameters. To reduce the number of fuzzy rules of the fuzzy controller, we consider the properties of robot dynamics and the decomposition of the uncertainties terms. The proposed controller is robust against uncertainties and external disturbance. Further, it is shown that required stability conditions, in both cases, can be formulated as LMI problems and solved using dedicated software. The validity of the control scheme is demonstrated by computer simulations on a two-link robot manipulator.read more
Citations
More filters
Proceedings ArticleDOI
Design of fuzzy-neural-network tracking control with only position feedback for robot manipulator including actuator dynamics
Rong-Jong Wai,Zhi-Wei Yang +1 more
TL;DR: The superiority of the proposed control scheme is indicated in comparison with proportional-differential control (PDC), Takagi-Sugeno-Kang (TSK)-type fuzzy-neural-network control (T-FNNC) and robust-NEural-fuzzy- network control (RNFNC) systems.
Proceedings ArticleDOI
A Fuzzy Control Algorithm for Collecting Main Pressure Controlling Using Expert Control
TL;DR: The experience results show the fuzzy control algorithm using expert control can make collecting main pressure and the cooler actuating power in the requirement range and obtain a well control performance.
Proceedings ArticleDOI
Adaptive neural network control of a 5 DOF robot manipulator
TL;DR: A robust neural network based controller is proposed to steer the joint angles of rigid-link robot manipulators to track the desired trajectories asymptotically and it is proved that arbitrarily small tracking errors could be achieved by selecting proper design parameters.
Journal ArticleDOI
Adaptive fuzzy output feedback dynamic surface sliding mode control for a nonlinear dynamic system
TL;DR: An adaptive fuzzy dynamic surface control scheme combined with state and nonlinearity observer and sliding mode control to estimate immeasurable state and compensate undesirable uncertainty on motion control for a strict output feedback nonlinear dynamic system.
Journal ArticleDOI
The Robust NN Control and Fast Vibration Suppression of Space Flexible Manipulator with Unknown Parameters
TL;DR: In this paper, the adaptive feedback control for vibration suppression is designed of the system with unknown parameters, and the adaptive laws are obtained by Lyapunov method without any prior knowledge about the bounds of unknown parameters.
References
More filters
Journal ArticleDOI
On the adaptive control of robot manipulators
Jean-Jacques E. Slotine,W. Li +1 more
TL;DR: In this paper, an adaptive robot control algorithm is derived, which consists of a PD feedback part and a full dynamics feed for the compensation part, with the unknown manipulator and payload parameters being estimated online.
Book
Control of Robot Manipulators
TL;DR: Control of robot manipulators , Control of robot Manipulators , مرکز فناوری اطلاعات و £1,000,000; اوشاوρز رسانی, کسورزی;
Journal ArticleDOI
Adaptive control of mechanical manipulators
TL;DR: In this paper, an accurate dynamic model of a mechanical manipulator is used in a nonlinear, model-based scheme to control the manipulator, which yields a controllable manipulator.
Book
Adaptive control of mechanical manipulators
TL;DR: What is believed to be the first golbally convergent, rigorous proof of the stability of such a scheme in its non-linear setting, as well as its asymptotic properties and conditions for parameter convergence are presented.