Fuzzy passivity Control of Flexible Joint Robot

被引：1
|
作者：
Zhang, Bin [1 ]
机构：
[1] Beijing Univ Posts & Telecommun, Automat Sch, Beijing 100088, Peoples R China
来源：
RESEARCH IN MATERIALS AND MANUFACTURING TECHNOLOGIES, PTS 1-3 | 2014年 / 835-836卷
关键词：
Flexible Joint Robot; T-S Fuzzy Model; PDC; Passivity Control; SYSTEMS;
D O I：
10.4028/www.scientific.net/AMR.834-836.1229
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
This paper researches a fuzzy control method for passive flexible joint robot. Stability control method applying T-S fuzzy model is employed for single-link flexible joint robot. T-S fuzzy model is used to approximate the flexible joint robot firstly, and then fuzzy controller is developed based on the principle of parallel distributed compensation. The fuzzy controller is also applied to the passive properties of model error. The stability conditions are proposed by Lyapunov function and linear matrix inequalities are also applied to solve the controller parameters. Simulation results show that the proposed method of application value.
引用
收藏
页码：1229 / 1233
页数：5
相关论文
共 50 条
  • [11] Implementation of a Fuzzy TSK Controller for a Flexible Joint Robot
    Akbari, M. E.
    Badamchizadeh, M. A.
    Poor, M. A.
    DISCRETE DYNAMICS IN NATURE AND SOCIETY, 2012, 2012
  • [12] H∞ Control of Flexible Joint Robot via T-S Fuzzy Model
    Wang, Feng
    Liu, Xiaoping
    MEASURING TECHNOLOGY AND MECHATRONICS AUTOMATION IV, PTS 1 AND 2, 2012, 128-129 : 894 - 897
  • [13] Type-2 fuzzy control for a flexible-joint robot using voltage control strategy
    Zirkohi M.M.
    Fateh M.M.
    Shoorehdeli M.A.
    International Journal of Automation and Computing, 2013, 10 (3) : 242 - 255
  • [14] Type-2 Fuzzy Control for a Flexible-joint Robot Using Voltage Control Strategy
    Majid Moradi Zirkohi
    Mohammad Mehdi Fateh
    Mahdi Aliyari Shoorehdeli
    International Journal of Automation and Computing, 2013, (03) : 242 - 255
  • [15] Indirect adaptive fuzzy control for flexible-joint robot manipulators using voltage control strategy
    Fateh, Mohammad Mehdi
    Souzanchikashani, Mahdi
    JOURNAL OF INTELLIGENT & FUZZY SYSTEMS, 2015, 28 (03) : 1451 - 1459
  • [16] Fuzzy control of robot manipulator with a flexible tool
    Alasty, A
    Sepehri, A
    JOURNAL OF ROBOTIC SYSTEMS, 2005, 22 (07): : 367 - 382
  • [17] Robust control of flexible joint robot manipulator
    Patel, Aditya
    Neelgund, Rohan
    Wathore, Archana
    Kolhe, Jaywant P.
    Kuber, M. M.
    Talole, S. E.
    2006 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY, VOLS 1-6, 2006, : 437 - +
  • [18] Passivity-Based Force Tracking Control for Flexible Joint Robots
    Song, Yong
    Li, Chenggang
    Wang, Chunming
    Wu, Zefeng
    2019 9TH IEEE ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (IEEE-CYBER 2019), 2019, : 7 - 12
  • [19] Adaptive Fuzzy Dynamic Surface Control of Flexible-Joint Robot Systems With Input Saturation
    Song Ling
    Huanqing Wang
    Peter X.Liu
    IEEE/CAA Journal of Automatica Sinica, 2019, 6 (01) : 97 - 107
  • [20] Adaptive Fuzzy Dynamic Surface Control of Flexible-Joint Robot Systems With Input Saturation
    Ling, Song
    Wang, Huanqing
    Liu, Peter X.
    IEEE-CAA JOURNAL OF AUTOMATICA SINICA, 2019, 6 (01) : 97 - 106
12345