Adaptive Fuzzy Control for Flexible Robotic Manipulator with a Fixed Sampled Period
نویسندگان
چکیده
In this paper, a backstepping sampled data control method is developed for flexible robotic manipulator whose internal dynamic completely unknown. To address the uncertainties, fuzzy logical system (FLS) considered. Moreover, considering limited network bandwidth, designed controller and adaptive laws only contain with fixed period. By invoking Lyapunov stability theory, all signals of are semi-global uniformly ultimately bounded (SGUUB). Ultimately, an application to given verify validity controller.
منابع مشابه
Direct Model Reference Adaptive Control of a Flexible Robotic Manipulator
Quick, precise control of a flexible manipulator in a space environment is essential for future Space Station repair and satellite servicing. Numerous control algorithms have proven successful in controlling rigid manipulators with colocated sensors and actuators; however, few have been tested on a flexible manipulator with noncolocated sensors and actuators. In this thesis, a model reference a...
متن کاملPredictive Control of Flexible Joint Robotic Manipulator
A new formulation of a trajectory tracking controller for flexible joint robotic manipulator is proposed. The controller is based on the continuous time nonlinear predictive control approach wherein predicted errors in the actual response and the desired response and current control expenditure is minimized point-wise to obtain an optimal, nonlinear feedback control law. It is shown that the we...
متن کاملExperiments in Control of a Flexible-Link Robotic Manipulator With Unknown Payload Dynamics: An Adaptive Approach
| This paper presents technology that extends the concept of end-point control of a exiblelink robot arm to handle payloads with unknown internal dynamics. The approach is based on merging high-performance control with an innovative identi cation algorithm in a self-tuning regulator framework. Payload dynamics are identi ed in real-time using recently developed subspace tting techniques. Su cie...
متن کاملadaptive fuzzy control of a mobile manipulator robot
a mobile manipulator robot is known as a complex system due to some properties such as coupling between the manipulator and mobile chassis, holonomic and nonholonomic constraints, multivariable and nonlinear dynamics. the control of robot faces the external disturbance, parametric uncertainty and unmodeled dynamics. therefore, the use of an adaptive fuzzy system is suggested for its capability ...
متن کاملBackstepping Control Design of a Single-Link Flexible Robotic Manipulator
In this paper, the backstepping design scheme is developed for the tip-position trajectory tracking control of single-link flexible robotic manipulator systems. An infinite dimensional dynamic model of a single-link flexible manipulator is derived through the assumed modes method associated with Lagrange approach. For simplicity, a linearized system model would be analyzed and investigated for ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Electronics
سال: 2022
ISSN: ['2079-9292']
DOI: https://doi.org/10.3390/electronics11142270