Nothing Special   »   [go: up one dir, main page]

Fateh et al., 2012 - Google Patents

Decentralized direct adaptive fuzzy control of robots using voltage control strategy

Fateh et al., 2012

View PDF
Document ID
7839146150764619948
Author
Fateh M
Fateh S
Publication year
Publication venue
Nonlinear Dynamics

External Links

Snippet

Decentralized control is the most favorite control of robot manipulators due to computational simplicity and ease of implementation. Beside that, adaptive fuzzy control efficiently controls uncertain nonlinear systems. These motivate us to design a decentralized fuzzy controller …
Continue reading at www.academia.edu (PDF) (other versions)

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
    • G05B13/027—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion using neural networks only
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/32—Automatic controllers electric with inputs from more than one sensing element; with outputs to more than one correcting element
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
    • G05B13/024—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system in which a parameter or coefficient is automatically adjusted to optimise the performance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B17/00—Systems involving the use of models or simulators of said systems
    • G05B17/02—Systems involving the use of models or simulators of said systems electric
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B15/00—Systems controlled by a computer
    • G05B15/02—Systems controlled by a computer electric
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B5/00—Anti-hunting arrangements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B21/00—Systems involving sampling of the variable controlled

Similar Documents

Publication Publication Date Title
Yen et al. Recurrent fuzzy wavelet neural networks based on robust adaptive sliding mode control for industrial robot manipulators
Fateh et al. Decentralized direct adaptive fuzzy control of robots using voltage control strategy
Chen et al. Adaptive robust finite-time neural control of uncertain PMSM servo system with nonlinear dead zone
Kali et al. Super-twisting algorithm with time delay estimation for uncertain robot manipulators
Liu et al. Adaptive fuzzy output feedback control for a class of nonlinear systems with full state constraints
Fei et al. Adaptive sliding mode control of dynamic system using RBF neural network
Van Cuong et al. Adaptive trajectory tracking neural network control with robust compensator for robot manipulators
Fateh et al. Robust control of electrically driven robots by adaptive fuzzy estimation of uncertainty
Duc et al. Adaptive fuzzy fractional-order nonsingular terminal sliding mode control for a class of second-order nonlinear systems
Li et al. Distributed cooperative adaptive tracking control for heterogeneous systems with hybrid nonlinear dynamics
Izadbakhsh et al. Real-time robust adaptive control of robots subjected to actuator voltage constraint
Ye et al. Adaptive sliding mode control of robot based on fuzzy neural network
Wang et al. Formation control of multiple mecanum-wheeled mobile robots with physical constraints and uncertainties
Chen et al. Adaptive robust control of bilateral teleoperation systems with unmeasurable environmental force and arbitrary time delays
Gao et al. Robust adaptive backstepping INTSM control for robotic manipulators based on ELM
Cheng et al. Event-triggered-based adaptive command-filtered asymptotic tracking control for flexible robotic manipulators
Cui et al. Adaptive fuzzy fault-tolerant control of high-order nonlinear systems: A fully actuated system approach
Chuei et al. Extreme learning machine-based super-twisting repetitive control for aperiodic disturbance, parameter uncertainty, friction, and backlash compensations of a brushless DC servo motor
Van Kien et al. Adaptive fuzzy sliding mode control for nonlinear uncertain SISO system optimized by differential evolution algorithm
Khorashadizadeh et al. Robust model-free control of a class of uncertain nonlinear systems using BELBIC: stability analysis and experimental validation
Veysi et al. Voltage-base control of robot manipulator using adaptive fuzzy sliding mode control
Mou et al. Disturbance rejection sliding mode control for robots and learning design
Luo et al. Observer-based interval type-2 fuzzy friction modeling and compensation control for steer-by-wire system
Sha et al. Active fault-tolerant control strategy for electromechanical servo system based on dual fuzzy RBF neural networks and velocity reconstruction
Fateh et al. A precise robust fuzzy control of robots using voltage control strategy