Intelligent Fuzzy chaotic control of a two-link Rigid Robot Arm

被引：0

作者：

Zanjani, Shima Alizadeh ^{[1
]}

Jafari, Amir Homayoun ^{[2
]}

Nasrabadi, Ali Motie ^{[3
]}

机构：

[1] Islamic Azad Univ, Sci & Res Branch, Dept Elect Engn, Tehran, Iran

[2] Islamic Azad Univ, Sci & Res Branch, Dept Biomed Engn, Tehran, Iran

[3] Shahed Univ, Dept Biomed Engn, Tehran, Iran

来源：

2009 THIRD UKSIM EUROPEAN SYMPOSIUM ON COMPUTER MODELING AND SIMULATION (EMS 2009) | 2009年

关键词：

fuzzy control; chaotic control; two-link rigid robot; Poincare map;

D O I：

10.1109/EMS.2009.22

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

A new intelligent fuzzy chaotic control is proposed for two-link rigid robot arm. The system could have a chaotic behavior by applying a proper input. At the first step, input amplitude is varied in chaotic range, then the unstable period orbits (UPOs) of the plant, by using the Poincare map, and the convenient gains, are found for each amplitude. At the second step, maximum changed value of UPOs, which can be controlled with the computed gains, are obtained. So we have a lot of fuzzy regions a round of UPOs with the definite controlling rules. These regions should be overlapped and covered all spaces between two nearer fixed-points. By this way, the system could be controlled by routing the best path with considering the lowest consumption through the UPOs.

引用

页码：1 / +

页数：2

共 50 条

[1] Robust adaptive fuzzy control of a two-link robot arm
EL-Hawwary, M. I.
Elshafei, A. L.
[J]. INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, 2006, 21 (04): : 266 - 272
[2] Supervisory Chaos Control of a Two-Link Rigid Robot Arm Using OGY Method
Nazari, Mahtab
Rafiee, Gholamreza
Jafari, Amir Homayoun
Golpayegani, Seyyed Mohammad Reza Hashemi
[J]. 2008 IEEE CONFERENCE ON CYBERNETICS AND INTELLIGENT SYSTEMS, VOLS 1 AND 2, 2008, : 1295 - +
[3] Variable structure control for a two-link robot arm
Y. J. Huang
[J]. Electrical Engineering, 2003, 85 : 195 - 204
[4] Variable structure control for a two-link robot arm
Huang, YJ
[J]. ELECTRICAL ENGINEERING, 2003, 85 (04) : 195 - 204
[5] Model predictive control of a two-link robot arm
Guechi, El-Hadi
Bouzoualegh, Samir
Messikh, Lotfi
Blazic, Saso
[J]. 2018 INTERNATIONAL CONFERENCE ON ADVANCED SYSTEMS AND ELECTRICAL TECHNOLOGIES (IC_ASET), 2017, : 409 - 414
[6] Modeling and control of a horizontal two-link rigid/flexible robot
Lee, Ho-Hoon
[J]. PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL DIVISION 2005, PTS A AND B, 2005, : 1921 - 1927
[7] Unfalsified direct adaptive control of a two-link robot arm
Tsao, TC
Safonov, MG
[J]. INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, 2001, 15 (03) : 319 - 334
[8] Direct Adaptive Fuzzy Control for a Two-Link Space Robot
Ulrich, Steve
Sasiadek, Jurek Z.
[J]. 2011 16TH INTERNATIONAL CONFERENCE ON METHODS AND MODELS IN AUTOMATION AND ROBOTICS, 2011, : 290 - 295
[9] Adaptive fuzzy sliding mode control for a two-link robot
Lin, Chih-Min
Chen, Te-Yu
Fan, Wei-Zhe
Lee, Yueh-Feng
[J]. 2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, 2006, : 581 - +
[10] Adaptive fuzzy sliding mode control for the two-link robot
Naoual, Rachid
Mellouli, El Mehdi
Boumhidi, Ismail
[J]. 2014 9TH INTERNATIONAL CONFERENCE ON INTELLIGENT SYSTEMS: THEORIES AND APPLICATIONS (SITA'14), 2014,

← 1 2 3 4 5 →