Fuzzy Adaptive Variable Structure Control of Second-Order Robotic Manipulators with Dead Zones
نویسندگان
چکیده
منابع مشابه
A fuzzy adaptive variable-structure control scheme for uncertain chaotic MIMO systems with sector nonlinearities and dead-zones
HAL is a multi-disciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau...
متن کاملFractional-Order Hybrid Control of Robotic Manipulators
This paper presents the implementation of fractionalorder algorithms in the position/force hybrid control of robotic manipulators. The system performance and robustness is analyzed in the time and frequency domains. The effect of dynamic backlash and flexibility is also investigated.
متن کاملDiscrete-time repetitive optimal control: Robotic manipulators
This paper proposes a discrete-time repetitive optimal control of electrically driven robotic manipulators using an uncertainty estimator. The proposed control method can be used for performing repetitive motion, which covers many industrial applications of robotic manipulators. This kind of control law is in the class of torque-based control in which the joint torques are generated by permanen...
متن کاملInteger-order Versus Fractional-order Adaptive Fuzzy Control of Electrically Driven Robots with Elastic Joints
Real-time robust adaptive fuzzy fractional-order control of electrically driven flexible-joint robots has been addressed in this paper. Two important practical situations have been considered: the fact that robot actuators have limited voltage, and the fact that current signals are contaminated with noise. Through of a novel voltage-based fractional order control for an integer-order dynamical ...
متن کاملDesigning an adaptive fuzzy control for robot manipulators using PSO
This paper presents designing an optimal adaptive controller for tracking control of robot manipulators based on particle swarm optimization (PSO) algorithm. PSO algorithm has been employed to optimize parameters of the controller and hence to minimize the integral square of errors (ISE) as a performance criteria. In this paper, an improved PSO using logic is proposed to increase the convergenc...
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: Journal of Mathematics
سال: 2021
ISSN: 2314-4785,2314-4629
DOI: 10.1155/2021/6668405