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Control of Robot Manipulators Using Time-Delay Estimation and Fuzzy Logic Systems

Title
Control of Robot Manipulators Using Time-Delay Estimation and Fuzzy Logic Systems
Authors
Bae, Hyo-JeongJin, MaolinSuh, JinhoLee, Jun YoungChang, Pyung-HunAhn, Doo-sung
DGIST Authors
Lee, Jun Young
Issue Date
2017-05
Citation
Journal of Electrical Engineering and Technology, 12(3), 1271-1279
Type
Article
Article Type
Article
Keywords
Bioelectric PhenomenaComputer CircuitsContinuous Time SystemsControl SchemeControllersDelay Control SystemsDesignDynamicsErrorsFlexible ManipulatorsFuzzy InferenceFuzzy LogicFuzzy Inference SystemFuzzy Inference SystemImpedance ControlIndustrial RobotsMachine DesignManipulatorsModel Free ControlModular RobotsRobot ApplicationsRobot ManipulatorRobot ManipulatorsRobotsRobust ControlSynchronizationTerminal Sliding Mode (TSM)Time Delay Control (TDC)Time Delay Estimation (TDE)Time DelayTime Delay Control (TDC)Time Delay Estimation (TDE)Timing CircuitsTracking Control
ISSN
1975-0102
Abstract
A highly accurate model-free controller is proposed for trajectory tracking control of robot manipulators. The proposed controller incorporates time-delay estimation (TDE) to estimate and cancel continuous nonlinearities of robot dynamics, and exploits fuzzy logic systems to suppress the effect of the TDE error, which is due to discontinuous nonlinearities such as friction. To this end, integral sliding mode is defined using desired error dynamics, and a Mamdani-type fuzzy inference system is constructed. As a result, the proposed controller achieves the desired error dynamics well. Implementation of the proposed controller is easy because the design of the controller is intuitive and straightforward, and calculations of the complex robot dynamics are not required. The tracking performance of the proposed controller is verified experimentally using a 3-degree of freedom PUMA-type robot manipulator. © The Korean Institute of Electrical Engineers.
URI
http://hdl.handle.net/20.500.11750/4192
DOI
10.5370/JEET.2017.12.3.1271
Publisher
Korean Institute of Electrical Engineers
Files:
There are no files associated with this item.
Collection:
Robotics EngineeringRehabilitation Robotics Lab1. Journal Articles


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