Compensating the reconstruction error of fuzzy estimator in robust model-free control of electrically driven robot manipulators
Publish place: 14th Iranian Conference on Fuzzy Systems
Publish Year: 1394
نوع سند: مقاله کنفرانسی
زبان: English
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شناسه ملی سند علمی:
ICFUZZYS14_014
تاریخ نمایه سازی: 21 اردیبهشت 1397
Abstract:
This paper presents a novel robust model-free control for electrically driven robot manipulators based on the voltage control strategy. Adaptive fuzzy systems are applied to estimate the lumped uncertainty. The adaptation laws for parameters of fuzzy systems are derived from a stability analysis. The reconstruction error is then compensated to provide the asymptotically convergence of the tracking error. The novelty of this paper is proposing a continuous term for compensating the reconstruction error, while in previous related works, a discontinuous function is proposed. The case study is an articulated robot manipulator driven by permanent magnet DC motors. Simulation results show the effectiveness of the proposed method.
Authors
Saeed Khorashadizadeh
Ph. D. student, Department of Electrical and Robotic Engineering, Shahrood University of Technology,
Mohammad Mehdi Fateh
Academic member, Department of Electrical and Robotic Engineering, Shahrood University of Technology,
Siamak Azargoshasb
Ph. D. student, Department of Electrical and Robotic Engineering, Shahrood University of Technology,