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Machine Intelligence Research

Erschienen in:

01.02.2013

A Precise Robust Fuzzy Control of Robots Using Voltage Control Strategy

verfasst von: Mohammad Mehdi Fateh, Sara Fateh

Erschienen in: Machine Intelligence Research | Ausgabe 1/2013

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Abstract

Fuzzy control of robot manipulators with a decentralized structure is facing a serious challenge. The state-space model of a robotic system including the robot manipulator and motors is in non-companion form, multivariable, highly nonlinear, and heavily coupled with a variable input gain matrix. Considering the problem, causes and solutions, we use voltage control strategy and convergence analysis to design a novel precise robust fuzzy control (PRFC) approach for electrically driven robot manipulators. The proposed fuzzy controller is Mamdani type and has a decentralized structure with guaranteed stability. In order to obtain a precise response, we regulate a fuzzy rule which governs the origin of the tracking space. The proposed design is verified by stability analysis. Simulations illustrate the superiority of the PRFC over a proprotional derivative like (PD-like) fuzzy controller applied on a selective compliant assembly robot arm (SCARA) driven by permanent magnet DC motors.

Vorheriger Artikel Development and Verification of Simulation Model Based on Real MANET Experiments for Transport Layer Protocols (UDP and TCP)

Nächster Artikel H∞ Robust Control of DC- AC Interfaced Microsource in Microgrids

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Titel: A Precise Robust Fuzzy Control of Robots Using Voltage Control Strategy
verfasst von: Mohammad Mehdi Fateh
Sara Fateh
Publikationsdatum: 01.02.2013
Verlag: Springer-Verlag
Erschienen in: Machine Intelligence Research / Ausgabe 1/2013
Print ISSN: 2731-538X
Elektronische ISSN: 2731-5398
DOI: https://doi.org/10.1007/s11633-013-0697-x

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