Direct adaptive fuzzy control of flexible-joint robots including actuator dynamics using particle swarm optimization

نویسندگان

  • M. Moradizirkohi Department of Electrical Engineering, Behbahan Khatam Alanbia University of Technology, Behbahan, Iran.
  • S. Izadpanah Department of Electrical Engineering, Behbahan Khatam Alanbia University of Technology, Behbahan, Iran.
چکیده مقاله:

In this paper a novel direct adaptive fuzzy system is proposed to control flexible-joints robot including actuator dynamics. The design includes two interior loops: the inner loop controls the motor position using proposed approach while the outer loop controls the joint angle of the robot using a PID control law. One novelty of this paper is the use of a PSO algorithm for optimizing the control design parameters to achieve a desired performance. It is worthy of note that to form control law by considering practical considerations just the available feedbacks are used. It is beneficial for industrial applications wherethe real-time computation is costly. The proposed control approach has a fast response with a good tracking performance under the well-behaved control efforts. The stability is guaranteed in the presence of both structured and unstructured uncertainties. As a result, all system states are remained bounded. Simulation results on a two-link flexible-joint robot show the efficiency of the proposed scheme.

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direct adaptive fuzzy control of flexible-joint robots including actuator dynamics using particle swarm optimization

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عنوان ژورنال

دوره 5  شماره 1

صفحات  137- 147

تاریخ انتشار 2017-03-01

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