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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
Author(s)
Bae, Hyo-JeongJin, MaolinSuh, JinhoLee, Jun YoungChang, Pyung-HunAhn, Doo-sung
Issued Date
2017-05
Citation
Journal of Electrical Engineering & Technology, v.12, no.3, pp.1271 - 1279
Type
Article
Author Keywords
Robot ManipulatorsTime-Delay Estimation (TDE)Fuzzy Logic System (FLS)Time-Delay Control (TDC)Model-free control
Keywords
TERMINAL SLIDING-MODEIMPEDANCE CONTROLTRACKING CONTROLROBUST-CONTROLCONTROL SCHEMESYNCHRONIZATIONDESIGN
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
대한전기학회
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