Dual-layer fuzzy control architecture for the CAS rover arm
文献类型：期刊论文
| 作者 | Gao HW(高宏伟) ; Liu JG(刘金国); Li YM(李杨民); Hong, Kun; Zhang Y(张阳)
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| 刊名 | International Journal of Control, Automation and Systems
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| 出版日期 | 2015 |
| 卷号 | 13期号:5页码:1262-1271 |
| 关键词 | CAS rover arm force control fuzzy impedance fuzzy PD |
| ISSN号 | 1598-6446 |
| 产权排序 | 1 |
| 通讯作者 | 刘金国 ; 李杨民 |
| 中文摘要 | Since the conventional impedance control method for a rover arm is not suitable for unconstructed environment with uncertainties, a fuzzy inference method which improves the impedance model dynamically is introduced to realize high-precision control. The fuzzy PD control algorithm which applies to the joint control of a rover arm is analyzed in this paper. With the two level control algorithms, a novel dual-layer fuzzy control framework is proposed, which can enhance the control performance significantly. In order to verify the validity and reliability of the designed algorithms, the robotic arm of the CAS rover is considered as an experimental platform. Kinematics and dynamics models of robotic arm are derived at first. Moreover, the fuzzy inference mechanism and implementation process of impedance model parameters are illustrated. Extensive simulations and experimental results show that the control accuracy and the force control of the system have been significantly improved with the proposed dual-layer fuzzy control architecture. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems |
| 研究领域[WOS] | Automation & Control Systems |
| 关键词[WOS] | ROBOTIC MANIPULATORS ; FORCE CONTROL ; UNCERTAINTIES ; EXPLORATION ; KINEMATICS |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000361756300023 |
| 源URL | [http://ir.sia.ac.cn/handle/173321/16186]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 推荐引用方式 GB/T 7714 | Gao HW,Liu JG,Li YM,et al. Dual-layer fuzzy control architecture for the CAS rover arm[J]. International Journal of Control, Automation and Systems,2015,13(5):1262-1271. |
| APA | Gao HW,Liu JG,Li YM,Hong, Kun,&Zhang Y.(2015).Dual-layer fuzzy control architecture for the CAS rover arm.International Journal of Control, Automation and Systems,13(5),1262-1271. |
| MLA | Gao HW,et al."Dual-layer fuzzy control architecture for the CAS rover arm".International Journal of Control, Automation and Systems 13.5(2015):1262-1271. |
入库方式： OAI收割
来源：沈阳自动化研究所
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