Tracking control for flexible joint robots based on adaptive fuzzy compensation with uncertain parameters
文献类型：期刊论文
| 作者 | Huang, Huayuan1,2; Pan, Hongtao1 ; Cheng, Yong1
|
| 刊名 | INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING
 |
| 出版日期 | 2021-05-13 |
| 关键词 | adaptive fuzzy compensation cascaded control flexible joint robot tracking control uncertainty |
| ISSN号 | 0890-6327 |
| DOI | 10.1002/acs.3276 |
| 通讯作者 | Pan, Hongtao(panht@ipp.ac.cn) |
| 英文摘要 | This article presents a control scheme for flexible joint robots which has uncertain parameters based on adaptive fuzzy compensation. Considering the unknown parameters, the proposed state feedback control approach utilizes measured variables to establish a cascade structure that is based on simplified dynamics. After reducing the number of fuzzy rules, the adaptive fuzzy logic system is added as compensation to decrease the approximated errors, and the robust terms are also used to enhance the robustness of closed-loop system. Then, the global asymptotic stability could be confirmed through Lyapunov stability principle and Barbalat's lemma. Compared with the other two controllers, the proposed control method has not only higher position accuracy and better dynamic performance but also robustness to the approximation of motor inertia, friction torque and link torque. Some simulation experiments are conducted to show the validity of the proposed scheme. |
| WOS关键词 | NETWORK CONTROL ; ELASTIC JOINTS ; MANIPULATORS ; FRICTION |
| 资助项目 | China National Special Project for Magnetic Confinement Fusion Science Program[2017YFE0300503] ; National Natural Science Foundation of China[11905147] |
| WOS研究方向 | Automation & Control Systems ; Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:000649964200001 |
| 出版者 | WILEY |
| 资助机构 | China National Special Project for Magnetic Confinement Fusion Science Program ; National Natural Science Foundation of China |
| 源URL | [http://ir.hfcas.ac.cn:8080/handle/334002/122378]  |
| 专题 | 中国科学院合肥物质科学研究院 |
| 通讯作者 | Pan, Hongtao |
| 作者单位 | 1.Chinese Acad Sci, Hefei Inst Phys Sci, Hefei 230031, Peoples R China 2.Univ Sci & Technol China, Hefei, Peoples R China |
| 推荐引用方式 GB/T 7714 | Huang, Huayuan,Pan, Hongtao,Cheng, Yong. Tracking control for flexible joint robots based on adaptive fuzzy compensation with uncertain parameters[J]. INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING,2021. |
| APA | Huang, Huayuan,Pan, Hongtao,&Cheng, Yong.(2021).Tracking control for flexible joint robots based on adaptive fuzzy compensation with uncertain parameters.INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING. |
| MLA | Huang, Huayuan,et al."Tracking control for flexible joint robots based on adaptive fuzzy compensation with uncertain parameters".INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING (2021). |
入库方式： OAI收割
来源：合肥物质科学研究院
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