Cited 0 time in webofscience Cited 0 time in scopus

Improving time-delay control for robot manipulators using TSK fuzzy logic control systems

Title
Improving time-delay control for robot manipulators using TSK fuzzy logic control systems
Authors
Jin, MaolinKim, JinwookLee, Jun YoungChang, Pyung Hun
DGIST Authors
Lee, Jun Young
Issue Date
2017-07-03
Citation
2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017, 1743-1748
Type
Conference
ISSN
2159-6255
Abstract
We propose an enhanced time-delay controller (TDC) for robot manipulators using Takagi-Sugeno-Kang (TSK) fuzzy control systems. The proposed controller has three terms: A time-delay estimation (TDE) term to estimate and cancel continuous nonlinearities of robot dynamics, a desired dynamics injection term, and a TSK fuzzy inference system to correct the effect of the TDE error. The TSK-Type fuzzy inference system is constructed by using integral sliding surface to achieve the desired error dynamics. The proposed controller is easy to implement because calculations of the robot dynamics are not required, and the design of the fuzzy rules is also intuitive. The proposed controller has shown enhanced tracking performances compared with the conventional TDC in the experiment. © 2017 IEEE.
URI
http://hdl.handle.net/20.500.11750/4734
DOI
10.1109/AIM.2017.8014270
Publisher
Institute of Electrical and Electronics Engineers Inc.
Files:
There are no files associated with this item.
Collection:
Robotics EngineeringRehabilitation Robotics Lab2. Conference Papers


qrcode mendeley

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE