Proceedings ArticleDOI
Sliding Mode Control of Flexible Joint Using Gaussian Radial Basis Function Neural Networks
Faezeh Farivar,Mahdi Aliyari Shoorehdeli,Mohammad Ali Nekoui,Mohammad Teshnehlab +3 more
- pp 856-860
TLDR
A hybrid controller,utilizing sliding mode control using Gaussian Radial Basis Function Neural Networks (RBFNN), trained during the control process and it is not necessary to be trained off-line.Abstract:
This paper, describes a hybrid control method to control a flexible joint. Dynamic equation of the system has been derived. The designed controllers consist of two parts: classical controller, which is a Linear Quadratic Regulation (LQR), and a hybrid controller,utilizing sliding mode control using Gaussian Radial Basis Function Neural Networks (RBFNN). The RBFNN is trained during the control process and it is not necessary to be trained off-line.read more
Citations
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Proceedings ArticleDOI
Variable structure control and anti-control of flexible joint manipulator with experimental validation
TL;DR: In this article, a variable structure control and anti-control for trajectory tracking and vibration control of a flexible joint manipulator is presented, which is based on Lyapunov stability theory.
Journal ArticleDOI
Control of Flexible Joint Manipulator via Reduced Rule-Based Fuzzy Control with Experimental Validation
TL;DR: Experimental validation of proposed fuzzy logic controller for trajectory tracking and vibration control of a flexible joint manipulator reveals efficiency of proposed controller and the results are compared with LQR method.
Lyapunov Based Control of Flexible Joint Manipulator with Experimental Validation by Using Chaotic Gyroscope Synchronization
TL;DR: In this paper, a nonlinear control for trajectory tracking and vibration control of a flexible joint manipulator by using chaotic gyroscope synchronization is presented, which is based on Lyapunov stability theory and some generic sufficient conditions for global asymptotic control are attained.
Journal ArticleDOI
Sliding Mode Controller Design Using Fuzzy Sliding Surface for Flexible Joint Manipulator
TL;DR: In this paper, a robust controller for flexible joint manipulator using time-varying sliding surface is proposed, and the sliding mode control is thought to be a powerful choice to overcome no...
Control of flexible joint manipulator via variable structure rule-based fuzzy control and chaos anti-control with experimental validation
TL;DR: In this paper, a variable structure rule-based fuzzy control for trajectory tracking and vibration control of a flexible joint manipulator by using chaotic anti-control is presented, where fuzzy rules are directly constructed subject to a Lyapunov function obtained from variable structure surfaces.
References
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Proceedings ArticleDOI
Re-definition of the robot motion control problem: Effects of plant dynamics, drive system constraints, and user requirements
L. M. Sweet,Malcolm Good +1 more
TL;DR: In this article, realistic robot dynamic models are presented that have been validated over the frequency range 0 to 50 Hz and exhibit a strong influence of drive system flexibility, producing lightly damped poles in the neighborhood of 8 Hz, 14 Hz and 40 Hz, all unmodeled by the conventional rigid body multiple link robot dynamic approach.
Journal ArticleDOI
Adaptive control of flexible-joint manipulators
TL;DR: In this paper, a singular perturbation argument is used to show that adaptive control results for rigid robots can be used to control flexible-joint robots provided a simple correction term is added to the control law to damp out the elastic oscillations at the joints.
Journal ArticleDOI
A survey on the control of flexible joint robots
Sadjaad Ozgoli,Hamid D. Taghirad +1 more
TL;DR: The literature of the last two decades contains many important advances in the control of flexible joint robots as mentioned in this paper, and a survey of these advances and an assessment for future developments is provided.
Book ChapterDOI
On the controllability properties of elastic robots
G. Cesareo,R. Marino +1 more
TL;DR: An integrated algorithm is presented which, given the configuration (spatial geometry, mass distribution, structural parameters) of an industrial robot constituted by N+1 rigid links interconnected by N joints, allows the symbolic generation of the equations of motion and the analysis of their controllability properties.
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