Tracking control for flexible joint robots based on adaptive fuzzy compensation with uncertain parameters

2021 ◽  
Author(s):  
Huayuan Huang ◽  
Hongtao Pan ◽  
Yong Cheng
Keyword(s):  
Tracking Control ◽  
Uncertain Parameters ◽  
Flexible Joint ◽  
Adaptive Fuzzy ◽  
Flexible Joint Robots

Adaptive Fuzzy Tracking Control of Flexible-Joint Robots Based on Command Filtering

2020 ◽  
Vol 67 (5) ◽  
pp. 4046-4055 ◽  
Author(s):  
Song Ling ◽  
Huanqing Wang ◽  
Peter X. Liu
Keyword(s):  
Tracking Control ◽  
Flexible Joint ◽  
Adaptive Fuzzy ◽  
Flexible Joint Robots

Adaptive Fuzzy Tracking Control of Flexible-Joint Robots With Full-State Constraints

2019 ◽  
Vol 49 (11) ◽  
pp. 2201-2209 ◽  
Author(s):  
Wei Sun ◽  
Shun-Feng Su ◽  
Jianwei Xia ◽  
Van-Truong Nguyen
Keyword(s):  
Tracking Control ◽  
State Constraints ◽  
Flexible Joint ◽  
Adaptive Fuzzy ◽  
Flexible Joint Robots ◽  
Full State ◽  
Full State Constraints

Finite-time disturbance observer-based trajectory tracking control for flexible-joint robots

2021 ◽  
Author(s):  
Huiming Wang ◽  
Yang Zhang ◽  
Zhenhua Zhao ◽  
Xianlun Tang ◽  
Jun Yang ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Finite Time ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Trajectory Tracking Control ◽  
Flexible Joint ◽  
Flexible Joint Robots

Trajectory tracking control of flexible-joint robots

2000 ◽  
Vol 76 (6) ◽  
pp. 757-763 ◽  
Author(s):  
S.Kemal Ider ◽  
M.Kemal Özgören
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Trajectory Tracking Control ◽  
Flexible Joint ◽  
Flexible Joint Robots

Adaptive type-2 fuzzy estimation of uncertainties in the control of electrically driven flexible-joint robots

2015 ◽  
Vol 23 (9) ◽  
pp. 1535-1547 ◽  
Author(s):  
Majid Moradi Zirkohi ◽  
Mohammad Mehdi Fateh
Keyword(s):  
Stability Analysis ◽  
Fuzzy System ◽  
Tracking Control ◽  
Torque Control ◽  
Nonlinear Controller ◽  
Outer Loop ◽  
Flexible Joint ◽  
Flexible Joint Robots ◽  
Estimation Of Uncertainty

This paper presents a novel decentralized tracking control system of electrically driven flexible-joint robots by adaptive type-2 fuzzy estimation and compensation of uncertainties. Owing to using voltage control strategy, the proposed control approach has important advantages over the torque control approaches in terms of being free from manipulator dynamics, computationally simple and decoupled. The design includes two interior loops: the inner loop controls the motor position while the outer loop controls the joint angle of the robot. An adaptive proportional–integral–derivative controller governs the outer loop, whereas a robust nonlinear controller supported by estimation of uncertainty is employed for the inner loop. More specifically, the main contribution of the paper arises from this fact that the proposed control method uses the interval Type-2 Fuzzy Logic systems for estimation of uncertainty. This is the main difference between this paper and those published in literature. One advantage of the proposed approach is that it uses available feedbacks as an important advantage from a practical point of view. The method is verified by stability analysis and its effectiveness is demonstrated by simulations. The direct method of Lyapunov is utilized for stability analysis of the proposed approach. The case of study is the tracking control of a three-joint articulated flexible-joint robot driven by permanent magnet DC motors. Simulation results show the superior robustness of the type-2 fuzzy system to Type-1 fuzzy system.

Linear stabilizing controllers for electrically driven flexible-joint robots with uncertain parameters

1999 ◽  
Vol 18 (2) ◽  
pp. 131-147 ◽  
Author(s):  
Amit Ailon ◽  
Michael I. Gil ◽  
Eun-Seok Choi ◽  
Byung-Ha Ahn
Keyword(s):  
Uncertain Parameters ◽  
Flexible Joint ◽  
Stabilizing Controllers ◽  
Flexible Joint Robots

scholarly journals Combined adaptive neural network and regressor‐based trajectory tracking control of flexible joint robots

2021 ◽  
Author(s):  
Jorge Montoya‐Cháirez ◽  
Javier Moreno‐Valenzuela ◽  
Víctor Santibáñez ◽  
Ricardo Carelli ◽  
Fracisco G. Rossomando ◽  
...  
Keyword(s):  
Neural Network ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Adaptive Neural Network ◽  
Trajectory Tracking Control ◽  
Flexible Joint ◽  
Flexible Joint Robots
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