Fractional Modeling and Controller Design of Robotic Manipulators

2021 ◽  
Author(s):  
Abhaya Pal Singh ◽  
Dipankar Deb ◽  
Himanshu Agrawal ◽  
Valentina E. Balas
Keyword(s):  
Controller Design ◽  
Robotic Manipulators ◽  
Fractional Modeling

scholarly journals Fractional-order fuzzy adaptive controller design for uncertain robotic manipulators

2019 ◽  
Vol 16 (2) ◽  
pp. 172988141984022 ◽  
Author(s):  
Yanping Deng
Keyword(s):  
Fuzzy Control ◽  
Fractional Order ◽  
Controller Design ◽  
Sliding Mode ◽  
Main Idea ◽  
Robotic Manipulators ◽  
Adaptive Controller ◽  
Small Region ◽  
Trajectory Tracking Control ◽  
Integer Order

A sliding mode adaptive fractional fuzzy control is provided in this article to achieve the trajectory tracking control of uncertain robotic manipulators. By adaptive fractional fuzzy control, we mean that fuzzy parameters are updated through fractional-order adaptation laws. The main idea of this work consists in using fractional input to control complex integer-order nonlinear systems. An adaptive fractional fuzzy control that guarantees tracking errors tend to an arbitrary small region is established. To facilitate the stability analysis, fractional-order integral Lyapunov functions are proposed, and the integer-order Lyapunov stability criterion is used. Finally, simulation results are presented to show the effectiveness of the proposed method.

Advanced gain scheduledH∞controller for robotic manipulators

Robotica ◽  
2002 ◽  
Vol 20 (5) ◽  
pp. 537-544
Author(s):  
Zhongwei Yu ◽  
Huitang Chen ◽  
Peng-Yung Woo
Keyword(s):  
Output Feedback ◽  
Closed Loop ◽  
Controller Design ◽  
Robotic Manipulators ◽  
Linear Matrix ◽  
Matrix Inequalities ◽  
Vertex Set ◽  
Parameter Dependent ◽  
Gain Scheduled ◽  
Upper Boundary

SummaryA conservatism-reduced design of a gain scheduled output feedbackH∞controller for ann-joint rigid robotic manipulator, which integrates the varying-parameter rate without their feedback, is proposed. The robotic system is reduced to a 1inear parameter varying (LPV) form, which depends on the varying-parameter. By using a parameter-dependent Lyapunov function, the design of a controller, which satisfies the closed-loopH∞performance, is reduced to a solution of the parameterized linear matrix inequalities (LMIs) of parameter matrices. With a use of the concept of “multi-convexity”, the solution of the infinite LMIs in the varying-parameter and its rate space is reduced to a solution of the finite LMIs for the vertex set. The proposed controller eliminates the feedback of the varying-parameter rate and fixes its upper boundary so that the conservatism of the controller design is reduced. Experimental results verify the effectiveness of the proposed design.

Multirate control of nonlinear robotic manipulators with network structure under bounded disturbances

2019 ◽  
Vol 25 (18) ◽  
pp. 2523-2533 ◽  
Author(s):  
H. Ghasemzadeh Ebli ◽  
Mohammad Ali Nekoui
Keyword(s):  
Communication Networks ◽  
Degrees Of Freedom ◽  
Controller Design ◽  
Robot Manipulator ◽  
Robotic Manipulators ◽  
Sampled Data ◽  
Time Model ◽  
Data Dynamics ◽  
Tracking Ability ◽  
Bounded Disturbances

This paper investigates a novel nonlinear multirate controller for robotic manipulators exposed to communication constraints and external disturbances. An improved tracking control methodology using an estimated discrete-time model of the robot is presented in this paper. The input-to-state stability of the sampled-data dynamics of the robot is preserved for both single-rate and multirate samplings. The obtained outcomes demonstrate that the sampled-data structure can stabilize the robotic manipulator when the continuous-time controller is not valid in the presence of communication networks. The output sampled measures of the robot provide piecewise signals for the controller, and the input to the plant results from a time-driven zero order hold device. In this paper, the discontinuous Lyapunov-based method is proposed to reject time variant and bounded disturbances. This is a novel controller design that can lead to the exact trajectory following without having details of the nonlinear dynamics of the robot. The main target is improving the accuracy of tracking ability of the robot manipulator to follow a reference input affected by constant bounded disturbances. Simulation results performed on a two degrees of freedom manipulator indicate that under proper assumptions, accurate trajectory tracking, and disturbance rejection at the input can be obtained by using the proposed structure. The example also demonstrates that the proposed multirate controller can successfully stabilize the robotic system.

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