TRACKING CONTROL OF A MOBILE MANIPULATOR WITH FUZZY PD CONTROLLER

被引：0
|
作者：
Karray, Amal [1 ]
Feki, Moez [1 ]
机构：
[1] Univ Sfax, Engn Sch Sfax, Energy Management Lab, CEMLab, BP 1173, Sfax 3038, Tunisia
来源：
2015 WORLD CONGRESS ON INFORMATION TECHNOLOGY AND COMPUTER APPLICATIONS (WCITCA) | 2015年
关键词：
Mobile manipulator; Fuzzy; PD controller; Desired path; SLIDING MODE CONTROL; ROBOT;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we suggest a fuzzy PD controller for a dynamic model of nonholonomic mobile manipulator in order to treat the trajectory tracking control and to eliminate the effect of external force on the end-effector. Firstly, the dynamic model of the mobile robot in motion space is detailed. Secondly, a fuzzy PD controller is conceived to adjust the parameters of the PD controller online depending on the actual state of the dynamic system. In particular, the mobile robot can follow every path such as a straight line or a sinusoid. Simulation results are given to demonstrate the effectiveness of the proposed controller and to illustrate the coordination of two subsystems in performing the desired trajectory.
引用
收藏
页数：5
相关论文
共 50 条
  • [1] Design of a fuzzy trajectory tracking controller for a mobile manipulator system
    Chang, Chia-Wen
    Tao, Chin-Wang
    [J]. SOFT COMPUTING, 2024, 28 (06) : 5197 - 5211
  • [2] Design of a fuzzy trajectory tracking controller for a mobile manipulator system
    Chia-Wen Chang
    Chin-Wang Tao
    [J]. Soft Computing, 2024, 28 (6) : 5197 - 5211
  • [3] Fuzzy Logic Controller with Color Vision System Tracking for Mobile Manipulator Robot
    Azar, Ahmad Taher
    Ammar, Hossam Hassan
    Mliki, Hazem
    [J]. INTERNATIONAL CONFERENCE ON ADVANCED MACHINE LEARNING TECHNOLOGIES AND APPLICATIONS (AMLTA2018), 2018, 723 : 138 - 146
  • [4] Tip tracking control of a flexible manipulator using PD type controller
    Ge, SS
    Lee, TH
    Zhu, G
    [J]. PROCEEDINGS OF THE 1996 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, 1996, : 309 - 313
  • [5] Design of fuzzy PD plus I controller for tracking control
    Kim, BJ
    Chung, CC
    [J]. PROCEEDINGS OF THE 2002 AMERICAN CONTROL CONFERENCE, VOLS 1-6, 2002, 1-6 : 2124 - 2129
  • [6] Decentralized Motion Control for Omnidirectional Mobile Platform-Tracking a Trajectory Using PD Fuzzy Controller
    Thanh Luan Bui
    [J]. AETA 2015: RECENT ADVANCES IN ELECTRICAL ENGINEERING AND RELATED SCIENCES, 2016, 371 : 803 - 819
  • [7] Tracking control of a manipulator under uncertainty by FUZZY P+ID controller
    Li, W
    Chang, XG
    Wahl, FM
    Farrell, J
    [J]. FUZZY SETS AND SYSTEMS, 2001, 122 (01) : 125 - 137
  • [8] PD manipulator controller with fuzzy adaptive gravity compensation
    Pan, L
    Woo, PY
    [J]. JOURNAL OF ROBOTIC SYSTEMS, 2000, 17 (02): : 93 - 106
  • [9] Vibration and Input Tracking Control of Flexible Manipulator using Hybrid Fuzzy Logic Controller
    Ahmad, M. A.
    Nasir, A. N. K.
    Hambali, N.
    Ishak, H.
    [J]. 2008 INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION: (ICMA), VOLS 1 AND 2, 2008, : 592 - 597
  • [10] Tracking control of mobile manipulator with dynamical uncertainties
    Song, ZS
    Zhao, DB
    Yi, JQ
    Li, XC
    [J]. 2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, 2005, : 2373 - 2378
12345