Journal ArticleDOI
Robust control of electrically driven robots by adaptive fuzzy estimation of uncertainty
TLDR
In this article, a nonlinear adaptive fuzzy estimation and compensation of uncertainty is proposed to model the uncertainty as a non-linear function of the joint position error and its time derivative, and a comparison between the proposed Nonlinear Adaptive Fuzzy Control and a Robust Nonlinear Control (NAFC) is presented.Abstract:
This paper presents a novel robust decentralized control of electrically driven robot manipulators by adaptive fuzzy estimation and compensation of uncertainty. The proposed control employs voltage control strategy, which is simpler and more efficient than the conventional strategy, the so-called torque control strategy, due to being free from manipulator dynamics. It is verified that the proposed adaptive fuzzy system can model the uncertainty as a nonlinear function of the joint position error and its time derivative. The adaptive fuzzy system has an advantage that does not employ all system states to estimate the uncertainty. The stability analysis, performance evaluation, and simulation results are presented to verify the effectiveness of the method. A comparison between the proposed Nonlinear Adaptive Fuzzy Control (NAFC) and a Robust Nonlinear Control (RNC) is presented. Both control approaches are robust with a very good tracking performance. The NAFC is superior to the RNC in the face of smooth uncertainty. In contrast, the RNC is superior to the NAFC in the face of sudden changes in uncertainty. The case study is an articulated manipulator driven by permanent magnet dc motors.read more
Citations
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Journal ArticleDOI
Robust control design for rigid-link flexible-joint electrically driven robot subjected to constraint: theory and experimental verification
TL;DR: In this article, a robust Lyapunov-based controller for flexible-joint electrically driven robots considering voltage as control input is proposed, which is free from mechanical subsystem of the actuator dynamics, considered here as unmodeled dynamics.
Journal ArticleDOI
Uncertainty estimation in robust tracking control of robot manipulators using the Fourier series expansion
TL;DR: This paper intuitively shows that in order to perform repetitive tasks; the least common multiple (LCM) of fundamental period durations of the desired trajectories of the joints is a proper value for the fundamental period duration of the Fourier series expansion.
Journal ArticleDOI
Design of fuzzy system-fuzzy neural network-backstepping control for complex robot system
TL;DR: Fuzzy system-fuzzy neural network-backstepping control (FS-FNN-BSC) system is proposed, which can guarantee the accurate, stable and efficient control of complex robot system with uncertainties and disturbances.
Journal ArticleDOI
Robust task-space control of robot manipulators using Legendre polynomials for uncertainty estimation
TL;DR: In this paper, a robust task-space control of electrically driven robot manipulators using voltage control strategy is proposed. But, the complexity of the robust control law is high, and it requires some feedbacks of the system states which providing them may be expensive.
Journal ArticleDOI
Optimal robust voltage control of electrically driven robot manipulators
TL;DR: A novel robust optimal voltage control of electrically driven robot manipulators by using Voltage Control Strategy which is more robust, faster, less coupled, and less computational compared with the common strategy called as Torque Control Strategy (TCS).
References
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Book
Adaptive Fuzzy Systems and Control: Design and Stability Analysis
TL;DR: This paper presents a meta-analysis of the design and stability analysis of fuzzy identifiers of nonlinear dynamic systems fuzzy adaptive filters of adaptive fuzzy controllers using input-output linearization concepts.
Journal ArticleDOI
Continuous state feedback guaranteeing uniform ultimate boundedness for uncertain dynamic systems
Martin Corless,George Leitmann +1 more
TL;DR: In this article, a class of state feedback controls is proposed in order to guarantee uniform ultimate boundedness of every system response within an arbitrarily small neighborhood of the zero state, and these feedback controls are continuous functions of the state.
Journal ArticleDOI
Survey of robust control for rigid robots
TL;DR: In this paper, a survey of the robust control of the motion of rigid robots is presented, including linear-multivariable approach, passivity approach, variable-structure approach, saturation approach, and robust-adaptive approach.
Journal ArticleDOI
Robust control of robot manipulators: A survey
TL;DR: In this paper, the authors present an overview of robust control schemes for robot manipulators, including linear, passivity-based, Lyapunov-based and robust adaptive control schemes.