Computer-based Regressor-free Adaptive Control versus Direct Adaptive Fuzzy Control of the Robotic System
- سال انتشار: 1398
- محل انتشار: فصلنامه فرایندهای نوین در ساخت و تولید، دوره: 8، شماره: 3
- کد COI اختصاصی: JR_MPMPJ-8-3_006
- زبان مقاله: انگلیسی
- تعداد مشاهده: 262
نویسندگان
Department of Power Electrical, College of Electrical, West Tehran Branch, Islamic Azad University, Tehran, Iran
Department of Computer Engineering, Garmsar Branch, Islamic Azad University, Garmsar, Iran
Master of Industrial Engineering, Signaling Department of Railway, Iran
چکیده
A comprehensive comparison between regressor-free control and direct adaptive fuzzy control of flexible-joint robots is addressed in this paper. In the proposed regressor-free controller, two critical practical situations are considered: the fact that robot actuators have limited voltages, and limitation on the number of measurement devices. However, in the article "decentralized direct adaptive fuzzy control for flexible-joint robots," these limitations have been neglected. It should be noted that a few solutions for the voltage-bounded robust tracking control of flexible joint robots have been proposed. In this paper; we contribute to this subject by presenting a new form of voltage-based controllers. The closed-loop control system stability is proved, and uniformly boundedness of the joint position errors is guaranteed. As a second contribution of this paper, we present a robust adaptive control scheme without the need for computation of the regressor matrix with the same result on the closed-loop system stability. Experimental results of the proposed controller and the decentralized direct adaptive fuzzy controller are produced using MATLAB/SIMULINK external mode control on a single-link flexible-joint electrically driven robot. Experimental and analytical results demonstrate the high performance of the proposed control scheme.کلیدواژه ها
Actuator Saturation, Direct Adaptive Fuzzy Control, Flexible-joint Robots, Robust Adaptive Control, Voltage Control Strategyاطلاعات بیشتر در مورد COI
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