Tracking control using hierarchical fuzzy-regulated optimal approach for robotic manipulators

2018 ◽  
Vol 233 (2) ◽  
pp. 635-648 ◽  
Author(s):  
Haiyun Zhang ◽  
Wei Li
Keyword(s):  
Tracking Control ◽  
Fuzzy Controller ◽  
Dynamical Behavior ◽  
Robotic Manipulators ◽  
Optimal Controller ◽  
Hierarchical Architecture ◽  
Trajectory Tracking Control ◽  
Optimal Tracking ◽  
Barbalat’S Lemma ◽  
Self Organizing

Robotic manipulators have captured the attention of many specialists owing to its importance in academic research and industrial automation. This paper proposes a novel hierarchical self-organizing fuzzy optimal controller for the trajectory tracking control of robotic manipulator systems. The hierarchical self-organizing fuzzy optimal controller employs a self-organizing fuzzy logic system as a superior control strategy regulator for a subordinate optimal tracking controller. Using the self-organizing learning and fuzzy inference operation, the weighting matrix in the optimal controller is configured adaptively according to the robotic dynamical behavior. The optimal tracking control law under this hierarchical architecture is derived using the maximum principle. Stability and robustness of the hierarchical self-organizing fuzzy optimal controller are then analyzed and proved through the Lyapunov stability approach and Barbalat's Lemma. A simulation study demonstrates the effectiveness and feasibility of this hierarchical system, and compares it with a self-organizing fuzzy controller.

scholarly journals Fractional order PID controller tuned by bat algorithm for robot trajectory control

2021 ◽  
Vol 21 (1) ◽  
pp. 74
Author(s):  
Mohammad A. Faraj ◽  
Abdulsalam Mohammed Abbood
Keyword(s):  
Fractional Order ◽  
Tracking Control ◽  
Bat Algorithm ◽  
Robotic Manipulators ◽  
Pso Algorithm ◽  
Objective Functions ◽  
Trajectory Tracking Control ◽  
Robot Trajectory ◽  
Fractional Order Pid ◽  
Fractional Order Pid Controller

<span>This paper deals with implementing the tuning process of the gains of fractional order proportional-integral-derivative (FOPID) controller designed for trajectory tracking control for two-link robotic manipulators by using a Bat algorithm. Two objective functions with weight values assigned has been utilized for achieving the minimization operation of errors in joint positions and torque outputs values of robotic manipulators. To show the effectiveness of using a Bat algorithm in tuning FOPID parameters, a comparison has been made with particle swarm optimization algorithm (PSO). The validity of the proposed controllers has been examined in case of presence of disturbance and friction. The results of simulations have clearly explained the efficiency of FOPID controller tuned by Bat algorithm as compared with FOPID controller tuned by PSO algorithm. </span>

scholarly journals INTEGRAL SLIDING MODE CONTROL FOR TRAJECTORY TRACKING CONTROL OF ROBOTIC MANIPULATORS USING AN ADAPTIVE TWISTING ALGORITHM

2019 ◽  
Vol 17 (12.2) ◽  
pp. 42
Author(s):  
Anh Tuan Vo ◽  
Ngoc Hoai An Nguyen ◽  
Duy Duong Pham
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Method ◽  
Sliding Mode ◽  
Robotic Manipulators ◽  
Trajectory Tracking Control ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Mode Control

This paper proposes an integral sliding mode for trajectory tracking control of robotic manipulators. Our proposed control method is developed on the foundation of the benefits in both integral sliding mode control and adaptive twisting control algorithm, such as high robustness, high accuracy, estimation ability, and chattering elimination. In this paper, the proposed integral sliding mode controller is designed with the elimination of the reaching phase to offer better trajectory tracking precision and to stabilize the robot system. To reduce the calculation burden along with chattering rejection, an adaptive twisting controller with only one simple adaptive rule is employed to estimate the upper-boundary values of the lumped uncertainties. Accordingly, the requirement of their prior knowledge is removed and then decrease the computation complexity. Consequently, this control method provides better trajectory tracking accuracy to handle the dynamic uncertainties and external disturbances more strongly. The system global stability of the control system is guaranteed by using Lyapunov criteria. Finally, simulated examples are performed to analyze the effectiveness of our control approach for position pathway tracking control of a 2-DOF parallel manipulator.

scholarly journals Design and Study of an Adaptive Fuzzy Logic-Based Controller for Wheeled Mobile Robots Implemented in the Leader-Follower Formation Approach

2021 ◽  
Vol 11 (2) ◽  
pp. 6935-6942
Author(s):  
H. Medjoubi ◽  
A. Yassine ◽  
H. Abdelouahab
Keyword(s):  
Fuzzy Logic ◽  
Feedback Control ◽  
Tracking Control ◽  
Formation Control ◽  
Fuzzy Controller ◽  
Wheeled Mobile Robots ◽  
Trajectory Tracking Control ◽  
Adaptive Fuzzy ◽  
Logic Control ◽  
Adaptive Fuzzy Logic

This paper presents a new design of an adaptive fuzzy logic control by implementing the leader-follower approach. The principle is to modify the feedback control of non-holonomic Wheeled Mobile Robot (WMR) to be adaptive according to a fuzzy controller in the control loop, in order to adjust the feedback control gains according to the distance error between the reference path and the real position. The trajectory tracking control for a single WMR is extended to the formation control for two WMRs in which the first one is the leader and the second is the follower. Simulation results are presented to demonstrate the effectiveness of the proposed controller.

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