Author:
Mehdi Fateh Mohammad,Azargoshasb Siamak
Abstract
Purpose
– The purpose of this paper is to design a discrete indirect adaptive fuzzy controller for a robotic manipulator. This paper addresses how to overcome the approximation error of the fuzzy system and uncertainties for asymptotic tracking control of robotic manipulators. The uncertainties include parametric uncertainty, un-modeled dynamics, discretization error and external disturbances.
Design/methodology/approach
– The proposed controller is model-free and voltage-based in the form of discrete-time Mamdani fuzzy controller. The parameters of fuzzy controller are adaptively tuned for asymptotic tracking of a desired trajectory. A robust control term is used to compensate the approximation error of the fuzzy system. An adaptive mechanism is derived based on the stability analysis.
Findings
– The proposed model-free discrete control is robust against all uncertainties associated with the robot manipulator and actuators. The approximation error of the fuzzy system is well compensated to achieve asymptotic tracking of the desired trajectories. Stability analysis and simulation results show its efficiency in the tracking control.
Originality/value
– A novel discrete indirect adaptive fuzzy controller is designed for electrically driven robot manipulators using the voltage control strategy. The novelty of this paper is compensating the approximation error of the fuzzy system and discretizing error for asymptotic tracking of the desired trajectory.
Reference25 articles.
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(2008), “On the voltage-based control of robot manipulators”, International Journal of Control, Automation, and Systems, Vol. 6 No. 6, pp. 702-712.
2. Fateh, M.M.
(2010a), “Robust fuzzy control of electrical manipulators”, Journal of Intelligent and Robotic Systems, Vol. 60 Nos 3-4, pp. 415-434.
3. Fateh, M.M.
(2010b), “Proper uncertainty bound parameter to robust control of electrical manipulators using nominal model”, Nonlinear Dynamics, Vol. 61 No. 4, pp. 655-666.
4. Fateh, M.M.
(2012), “Robust control of flexible-joint robots using voltage control strategy”, Nonlinear Dynamics, Vol. 67 No. 2, pp. 1525-1537.
5. Fateh, M.M.
and
Amerian, M.
(2013), “Guaranteed-stability adaptive fuzzy control of a hydraulic elevator”, International Journal of Intelligent Computing and Cybernetics, Vol. 6 No. 3, pp. 252-271.
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