Trajectory Tracking of Underactuated Manipulator Using Fuzzy Method

2013 ◽  
Vol 791-793 ◽  
pp. 643-646
Author(s):  
Qi Xiao Xia ◽  
Yue Qing Yu ◽  
Zhang Yu
Keyword(s):  
Numerical Simulation ◽  
Trajectory Tracking ◽  
Control Method ◽  
Fuzzy Controller ◽  
Membership Functions ◽  
Active Joint ◽  
Motion Error ◽  
Passive Joint ◽  
Underactuated Manipulator ◽  
Joint Dynamics

Control of Underactuate manipulator is a challenge. A fuzzy control method is presented to control a three DOFs underactuated manipulator with the last joint passive. Using the redundancy DOF, the base joint was assigned a motion plan. The second active joint is planed and controlled to compose the base joint dynamics to drive the last passive joint moving. So, the motion error of the joint 1 neednt be cared about. The fuzzy controller was designed based on measures errors between the tracked trajectory and desired trajectory. Gaussian membership functions are used for fuzzification of the error inputs and defuzzification of reasoning results. Numerical simulation on tracking of circle arc was implemented for verification of the presented fuzzy controller.

Fuzzy Control for Underactuated Manipulator

2013 ◽  
Vol 397-400 ◽  
pp. 1490-1493 ◽  
Author(s):  
Qi Xiao Xia ◽  
Yue Qing Yu ◽  
Qing Bo Liu
Keyword(s):  
Numerical Simulation ◽  
Fuzzy Control ◽  
Fuzzy System ◽  
Position Control ◽  
Control Method ◽  
Fuzzy Controller ◽  
Underactuated Manipulator ◽  
Siso Systems

Control of an underactuated manipulator by fuzzy control method is investigated in this paper. The joint angular errors are directly feedbacked to the inputs of the fuzzy system. The MIMO fuzzy controller is decoupled into sub SISO systems for simplification of the design of the system. Numerical simulation for the position control of a planar was presented for verification of the proposed method.

scholarly journals Integrated Design of Adaptive & Fuzzy Logic Control for Trajectory Tracking of 2 DOF Quadrotor

2021 ◽  
Author(s):  
Mustefa Jibril
Keyword(s):  
Fuzzy Logic ◽  
Trajectory Tracking ◽  
Degrees Of Freedom ◽  
Fuzzy Logic Controller ◽  
Control Method ◽  
Fuzzy Controller ◽  
Vertical Plane ◽  
Integrated Design ◽  
Adaptive Fuzzy ◽  
Quadrotor Uav

Accurate and precise trajectory tracking is crucial for a quadrotor to operate in disturbed environments. This paper presents a novel tracking hybrid controller for a quadrotor UAV that combines the Adaptive and Fuzzy logic controller. The Adaptive fuzzy controller is implemented to govern the behavior of two degrees of freedom quadrotor UAV. The proposed controller allows controlling the movement of UAVs to track a given trajectory in a 2D vertical plane. The Fuzzy Logic system provides an automatic adjustment of the Adaptive parameters to reduce tracking errors and improve the quality of the controller. The results showed perfect behavior for the control law to control a quadrotor trajectory tracking task. To show the effectiveness of the intelligent controller, simulation results are given to confirm the advantages of the proposed control method, compared with Fuzzy and Proportional integral derivative (PID) control methods.

Position Control of 3-DOF Underactuated Manipulators with Last Passive Joint Using Fuzzy Logic Control

2013 ◽  
Vol 373-375 ◽  
pp. 192-196
Author(s):  
Qi Xiao Xia ◽  
Yue Qing Yu ◽  
Zhi Quan Ren
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Logic Control ◽  
Fuzzy Logic Controller ◽  
Position Control ◽  
Fuzzy Controller ◽  
Passive Joint ◽  
Logic Control ◽  
Nonholonomic Dynamics ◽  
Underactuated Manipulator ◽  
Underactuated Manipulators

Underactuated manipulator is one kind of second order nonholonomic dynamics systems. How to control this system is still an open problem. This paper proposes a fuzzy strategy to control three DOF underactuated manipulator with a last passive joint. Four measures are selected to construct the fuzzy logic controller. The four measures are divided into two classes; one class is concerning first link, another class concerning the second link. Four fuzzy logic processors are designed to deal with the measure errors, respectively. The four fuzzy logic processors are also divided into two classes according to the two measure classes. Then, the processed results from the four processors are composed to produce control signs to compensate the errors occurring in the manipulator motion. This method simplifies the design of the fuzzy logic controller. Finally, numerical simulation verifies the fuzzy controller.

Different Fuzzy Controllers Analysis for MR Structures

2012 ◽  
Vol 204-208 ◽  
pp. 2874-2877
Author(s):  
Ying Qing Guo
Keyword(s):  
Fuzzy Control ◽  
Intelligent Control ◽  
Control Method ◽  
Fuzzy Controller ◽  
Fuzzy Rules ◽  
Membership Functions ◽  
Fuzzy Controllers ◽  
Mr Dampers ◽  
Fuzzy Control Strategy ◽  
Simulated Analysis

The fuzzy control technology is a kind of intelligent control method, and it has strong robustness. The fuzzy control strategy is used to choose the control currents of MR dampers in this paper. In order to illustrate how to design the fuzzy controller, three kinds of the fuzzy controller having different membership functions and fuzzy rules are designed. A five-floor MR structure using the designed different fuzzy controllers is simulated. Analysis results show that for the MR structure, it is not best that MR dampers provide the maximum forces to the structure, so the displacement and acceleration responses of the structure must be weighed at the same time to make MR dampers provide reasonable forces when the membership functions and fuzzy rules are designed.

Vibration Control of Nonholonomically Redundant Flexible Manipulators

2009 ◽  
Vol 419-420 ◽  
pp. 617-620
Author(s):  
Wei Chen ◽  
Yue Qing Yu ◽  
Xin Hua Zhao ◽  
Lian Yu Zhao
Keyword(s):  
Vibration Control ◽  
Position Control ◽  
Control Method ◽  
Elastic Vibration ◽  
Flexible Manipulator ◽  
Flexible Manipulators ◽  
Active Joint ◽  
Optimal Control Strategy ◽  
Passive Joint ◽  
Control Schemes

Underactuated flexible manipulator with redundant degrees of freedoms is investigated. Position control method of a single active joint driving the passive joint is given. According to the characteristics of nonholonomiclly redundant flexible manipulators, the optimal control strategy of multiple active joints driving the passive joints is proposed. As the elastic vibration of flexible links can not be eliminated only through position control, the vibration control schemes are presented again. The simulation results show that the elastic vibration is suppressed effectively. Therefore, for nonholonomically redundant flexible manipulator, both position control and vibration control are implemented successfully, which verifies the validity of the control schemes.

Path Planning Research of Soccer Robot Based on Fuzzy Theory

2012 ◽  
Vol 462 ◽  
pp. 580-586
Author(s):  
Jian Qiu Deng ◽  
Cui Hao ◽  
Yang Liu
Keyword(s):  
Path Planning ◽  
Fuzzy Control ◽  
Control Method ◽  
Fuzzy Controller ◽  
Fuzzy Theory ◽  
Membership Functions ◽  
Control Effect ◽  
Soccer Robot ◽  
Rotational Angle ◽  
Golden Mean

Aiming at the problem of path planning of soccer robot, based on the principle that the path curve should be smooth and the total length of the path should be short, the fuzzy control method to the whole velocity and the real-time rotational angle was proposed in this paper. The membership functions of fuzzy controller were optimized by golden mean principle. Simulating use the fuzzy control method and the fuzzy control method based on golden mean. Results show that the fuzzy controller optimized by golden mean has better control effect. Robot has better real-timing when avoiding obstacles. The global path will be shorter.

Mobility of Single-Loop N-Bar Linkage With Active/Passive Prismatic Joints

2005 ◽  
Vol 128 (6) ◽  
pp. 1261-1271 ◽  
Author(s):  
W. Z. Guo ◽  
R. Du
Keyword(s):  
Open Loop ◽  
Class Iii ◽  
Active Joint ◽  
Revolute Joint ◽  
Single Loop ◽  
Prismatic Joint ◽  
Passive Joint ◽  
Offset Distance ◽  
Prismatic Joints ◽  
Planar Linkages

Single-loop N-bar linkages that contain one prismatic joint are common in engineering. This type of mechanism often requires complicated control and, hence, understanding its mobility is very important. This paper presents a systematic study on the mobility of this type of mechanism by introducing the concept of virtual link. It is found that this type of mechanism can be divided into three categories: Class I, Class II, and Class III. For each category, the slide reachable range is cut into different regions: Grashof region, non-Grashof region, and change-point region. In each region, the rotation range of the revolute joint or rotatability of the linkage can be determined based on Ting’s criteria. The characteristics charts are given to describe the rotatability condition. Furthermore, if the prismatic joint is an active joint, the revolvability of the input revolute joint is dependent in non-Grashof region but independent in other regions. If the prismatic joint is a passive joint, the revolvability of the input revolute joint is dependent on the offset distance of the prismatic joint. Two examples are given to demonstrate the presented method. The new method is able to cover all the cases of N-bar planar linkages with one or a set of adjoined prismatic joints. It can also be used to study N-bar open-loop planar robotic mechanisms.

Robust finite-time trajectory tracking control for a space manipulator with parametric uncertainties and external disturbances

2021 ◽  
pp. 095441002110147
Author(s):  
Qijia Yao
Keyword(s):  
Trajectory Tracking ◽  
Finite Time ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Control Method ◽  
Parametric Uncertainties ◽  
External Disturbances ◽  
Trajectory Tracking Control ◽  
Space Manipulator ◽  
Tracking Controller

Space manipulator is considered as one of the most promising technologies for future space activities owing to its important role in various on-orbit serving missions. In this study, a robust finite-time tracking control method is proposed for the rapid and accurate trajectory tracking control of an attitude-controlled free-flying space manipulator in the presence of parametric uncertainties and external disturbances. First, a baseline finite-time tracking controller is designed to track the desired position of the space manipulator based on the homogeneous method. Then, a finite-time disturbance observer is designed to accurately estimate the lumped uncertainties. Finally, a robust finite-time tracking controller is developed by integrating the baseline finite-time tracking controller with the finite-time disturbance observer. Rigorous theoretical analysis for the global finite-time stability of the whole closed-loop system is provided. The proposed robust finite-time tracking controller has a relatively simple structure and can guarantee the position and velocity tracking errors converge to zero in finite time even subject to lumped uncertainties. To the best of the authors’ knowledge, there are really limited existing controllers can achieve such excellent performance under the same conditions. Numerical simulations illustrate the effectiveness and superiority of the proposed control method.

scholarly journals Sectorial Fuzzy Controller Plus Feedforward applied to the Trajectory Tracking of Robot Manipulators

2020 ◽  
Vol 53 (2) ◽  
pp. 9918-9923
Author(s):  
Andres O. Pizarro-Lerma ◽  
Victor Santibanez ◽  
Ramon Garcia-Hernandez ◽  
Jorge Villalobos Chin
Keyword(s):  
Trajectory Tracking ◽  
Fuzzy Controller ◽  
Robot Manipulators

THE EVALUATION OF SURFACE MORPHOLOGY USING FLEXURE GUIDED NANO-POSITIONING SYSTEM AND ULTRA-PRECISION LATHE

2012 ◽  
Vol 06 ◽  
pp. 172-177
Author(s):  
Nam-Su Kwak ◽  
Jae-Yeol Kim
Keyword(s):  
Surface Morphology ◽  
Piezoelectric Actuator ◽  
Control Method ◽  
Positioning System ◽  
Motion Error ◽  
Precision Stage ◽  
Cnc Lathe ◽  
Single Crystal Diamond ◽  
Ultra Precision ◽  
And Control

In this study, piezoelectric actuator, Flexure guide, Power transmission element and control method and considered for Nano-positioning system apparatus. The main objectives of this thesis were to develop the 3-axis Ultra-precision stages which enable the 3-axis control by the manipulation of the piezoelectric actuator and to enhance the precision of the Ultra-Precision CNC lathe which is responsible for the ductile mode machining of the hardened-brittle material where the machining is based on the single crystal diamond. Ultra-precision CNC lathe is used for machining and motion error of the machine are compensated by using 3-axis Ultra-precision stage. Through the simulation and experiments on ultra-precision positioning, stability and priority on Nano-positioning system with 3-axis ultra-precision stage and control algorithm are secured by using NI Labview. And after applying the system, is to analyze the surface morphology of the mold steel (SKD61)

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