scholarly journals Sectorial Fuzzy Controller Plus Feedforward for the Trajectory Tracking of Robotic Arms in Joint Space

Mathematics ◽  
2021 ◽  
Vol 9 (6) ◽  
pp. 616
Author(s):  
Andres Pizarro-Lerma ◽  
Victor Santibañez ◽  
Ramon Garcia-Hernandez ◽  
Jorge Villalobos-Chin
Keyword(s):  
Lyapunov Function ◽  
Fuzzy Control ◽  
Trajectory Tracking ◽  
Fuzzy Controller ◽  
Joint Space ◽  
Experimental Results ◽  
Robot Dynamics ◽  
Robotic Arms ◽  
Position Errors ◽  
Control Scheme

In this paper, we propose a Sectorial Fuzzy Controller (SFC) with a feedforward compensation of the robot dynamics in joint space, evaluated at the desired angular positions, velocities, and accelerations, applied to the trajectory tracking of all revolute joints robotic arms. Global uniform asymptotic stability proof applying the direct Lyapunov theorem, is introduced for this new control scheme by using a strict Lyapunov function. This strict Lyapunov function is the first one within the field of fuzzy control that is applied to the trajectory control of robotic manipulators. With this strict Lyapunov function, a sensitivity analysis was also computed for this novel control scheme. Additionally, physical and simulation experimental results are given in comparison to the original control scheme, in which this new controller is inspired: the Proportional-Derivative (PD) controller plus feedforward compensation. The experimental results yielded better performance for the new fuzzy control scheme when compared to the classical structure, in both the joint position errors for similar or smaller values of applied torques, showing the expected tolerance to parametric deviations and uncertainties that all fuzzy controllers possess.

Design and fuzzy control of a robotic gripper for efficient strawberry harvesting

Robotica ◽  
2014 ◽  
Vol 33 (5) ◽  
pp. 1085-1098 ◽  
Author(s):  
Fotios Dimeas ◽  
Dhionis V. Sako ◽  
Vassilis C. Moulianitis ◽  
Nikos A. Aspragathos
Keyword(s):  
Fuzzy Control ◽  
Fuzzy Controller ◽  
Hierarchical Control ◽  
Pressure Profile ◽  
Special Treatment ◽  
Human Hand ◽  
Hand Motion ◽  
Control Scheme ◽  
Controller Performance ◽  
Gripping Force

SUMMARYStrawberry is a very delicate fruit that requires special treatment during harvesting. A hierarchical control scheme is proposed based on a fuzzy controller for the force regulation of the gripper and proper grasping criteria, that can detect misplaced strawberries on the gripper or uneven distribution of forces. The design of the gripper and the controller are based on conducted experiments to measure the maximum gripping force and the required detachment force under a variety of detachment techniques. It is demonstrated that the hand motion for detaching the fruit from the stem has a significant role in the process because it can reduce the required force. By analysing those results a robotic gripper with pressure profile sensors is developed that demonstrates an efficiency comparable to the human hand for strawberry grasping. The designed gripper and fuzzy controller performance is tested with a considerable number of fresh fruits to demonstrate the effectiveness to the uncertainties of strawberry grasping.

Temperature Control System Based on Electronic Boiler

2013 ◽  
Vol 325-326 ◽  
pp. 1197-1201
Author(s):  
Guo Sheng Xu
Keyword(s):  
Control System ◽  
Fuzzy Control ◽  
Temperature Control ◽  
Fuzzy Controller ◽  
System Simulation ◽  
Temperature Control System ◽  
Control Effect ◽  
Simulation Research ◽  
Control Regulation ◽  
Control Scheme

Research has been done aimed at the boiler's temperature control system, and available control scheme is put forward. Combining with the output response of control system, simulation research and the control regulation of fuzzy controller are done to analyse, after experiments for many times repeatedly, fuzzy control regulation is ensured. The simulation result indicates that control effect is ideal, which means this scheme is identified as ideal temperature control system scheme.

Fuzzy Control of a Novel Type of Translational Meshing Motors

2010 ◽  
Vol 121-122 ◽  
pp. 1038-1043
Author(s):  
Wei Wang ◽  
Xin Jian Shan ◽  
Shi Min Wei
Keyword(s):  
Neural Network ◽  
Control System ◽  
Fuzzy Control ◽  
Fuzzy Controller ◽  
Torque Control ◽  
Training Procedure ◽  
Test Results ◽  
Model Reference Control ◽  
The Neural Network ◽  
Control Scheme

Owing to the nonlinear characteristic of a novel type of translational meshing motor with model uncertainties, a model reference control system which consists of a neural network and a fuzzy controller is used. The torque model is identified based on BP neural network, and then Fuzzy controller works as the controller. The description of the control system and training procedure of the neural network are given. The test results obtained for a torque control scheme suitable for the control of the motor are also presented to verify the effectiveness of the proposed nonlinear control scheme. It has been found that the fuzzy control system is able to work reliably.

Control of a Fluidized Bed Combustor Using Fuzzy Logic

1996 ◽  
Vol 118 (1) ◽  
pp. 204-209 ◽  
Author(s):  
S. J. Koffman ◽  
R. C. Brown ◽  
R. R. Fullmer
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Control ◽  
Fluidized Bed ◽  
Fuzzy Logic Control ◽  
Fuzzy Controller ◽  
Experimental Results ◽  
Pi Control ◽  
Logic Control ◽  
And Performance ◽  
Fluidized Bed Combustor

Application of fuzzy logic control to a fluidized bed combustor (FBC) is examined. Major aspects of fuzzy control are reviewed, and design of a fuzzy controller for the FBC is described. Selected experimental results are presented, and performance of the fuzzy controller is evaluated through comparisons to results from classical PI control of the combustor.

Passive Fuzzy Control via Fuzzy Integral Lyapunov Function for Nonlinear Ship Drum-Boiler Systems

2014 ◽  
Vol 137 (4) ◽  
Author(s):  
Wen-Jer Chang ◽  
Yao-Chung Chang ◽  
Cheung-Chieh Ku
Keyword(s):  
Lyapunov Function ◽  
Fuzzy Control ◽  
Fuzzy Controller ◽  
External Disturbance ◽  
Sufficient Conditions ◽  
Programming Algorithm ◽  
Linear Matrix ◽  
Line Integral ◽  
Drum Boiler ◽  
Fuzzy Lyapunov Function

The passive fuzzy control problem is studied in this paper via line-integral fuzzy Lyapunov function for nonlinear ship drum-boiler systems with multiplicative noises. The Takagi-Sugeno (T-S) fuzzy model is employed to represent the nonlinearities of the multiplicative noised nonlinear ship drum-boiler systems. For stability analysis and synthesis, the sufficient conditions are derived via line-integral fuzzy Lyapunov functions. These conditions are transformed into the linear matrix inequality (LMI) forms which can be solved by the convex optimal programming algorithm. In addition, the passivity theory is employed to deal with the effect of external disturbance in the ship drum-boiler system. Finally, a numerical example is provided to show the applicability and effectiveness of the proposed fuzzy controller design approach.

Control Design of a Mobile Robot in the Environment of Obstacles Based on a Rounded V-Shape Lyapunov Function

2019 ◽  
Author(s):  
Ho-Hoon Lee
Keyword(s):  
Lyapunov Function ◽  
Mobile Robot ◽  
Motion Control ◽  
Function Method ◽  
Input Saturation ◽  
Trajectory Generation ◽  
Position Errors ◽  
Control Scheme ◽  
Lyapunov Function Method ◽  
Multiple Obstacles

Abstract This paper proposes a V-shape Lyapunov function method with application to the design of a control scheme for a mobile robot navigating through multiple obstacles. The proposed design method solves the serious problem of input saturation due to big position errors in the beginning of the control associated with the conventional parabolic Lyapunov function method. The resulting control consists of a trajectory generation scheme and a motion control scheme. The trajectory generation scheme computes the translational and rotational reference velocities in real time that drive the robot to a given goal position while avoiding multiple obstacles. The motion control scheme computes the driving force and rotational torque to track the reference velocities. The nonholonomic constraints of the mobile robot are used in the design of the kinematic trajectory generation scheme, where a repulsive potential function is used for obstacle avoidance. The dynamic model of the robot is used in the design of the motion control scheme. Under certain conditions, the proposed control guarantees asymptotic stability while keeping all internal signals bounded. The effectiveness of the proposed control method has been shown with realistic computer simulations.

Wire Tension Force Variable Universe Fuzzy Control in Fixed Abrasive Wire Saw Manufacturing

2014 ◽  
Vol 716-717 ◽  
pp. 658-661
Author(s):  
Wen Bo Bi ◽  
Pei Qi Ge ◽  
Yu Fei Gao
Keyword(s):  
Fuzzy Control ◽  
Fuzzy Controller ◽  
Structural Characteristics ◽  
Stable Range ◽  
Variable Universe ◽  
Control Scheme ◽  
Wire Saw ◽  
Variable Universe Fuzzy Control ◽  
Force Variable ◽  
Fixed Abrasive Wire Saw

The structural characteristics of the tensioning device in the wire saw manufacturing equipment is introduced. Based on the characteristic of the strainer, the principle of variable universe fuzzy control is adopted to deal with the controlling objects. The design of two stage fuzzy controller and its parameters are discussed. The system simulation shows that the control scheme can make the tension within the stable range.

Back-Upper Control of a Car-Like Robot Having a Trailer via Model-Based Fuzzy Control

1995 ◽  
Vol 7 (1) ◽  
pp. 57-62
Author(s):  
Kazuo Tanaka ◽  
Keyword(s):  
Control System ◽  
Stability Analysis ◽  
Fuzzy Control ◽  
Robust Stability ◽  
Fuzzy Controller ◽  
Controller Design ◽  
Experimental Results ◽  
The Real ◽  
Robust Stability Analysis ◽  
Non Linear

In previous papers, 1,2) we designed a control system for backing up a computer-simulated, car-like robot having a trailer which is non-linear and unstable. Furthermore, we have theoretically shown 1,2) that the designed fuzzy controller smoothly achieves backing up control of this robot from all initial positions. In this paper, we realize backing up control of a real car-like robot having a trailer. The design is based on a technique of modelbased fuzzy control using a robust stability analysis and the concept of parallel distributed compensation. It is shown that the concept of parallel distributed compensation is simple and easy. Stability analysis and modelbased fuzzy controller design are described in terms of Lyapunov’s approach. The usefulness of the modelbased fuzzy controller design is then checked in the simulation. Finally, the experimental results illustrate that the designed fuzzy controller effectively realizes backing up control of the real car-like robot having a trailer.

OBJECTIVE-CENTERED FORMULATION OF AN ADAPTIVE FUZZY CONTROL SCHEME

1994 ◽  
Vol 02 (03) ◽  
pp. 321-331
Author(s):  
SHAOHUA TAN ◽  
YU LIN ◽  
PEI-ZHUANG WANG ◽  
SHI-ZHONG HE
Keyword(s):  
Fuzzy Control ◽  
Fuzzy Controller ◽  
Simulation Analysis ◽  
Adaptive Fuzzy Control ◽  
Adaptive Fuzzy ◽  
Control Scheme ◽  
Objective Space ◽  
Controller Performance ◽  
Response Profile ◽  
Control Objective

This paper presents a new adaptive fuzzy control scheme that is formulated and constructed directly in the control objective space. The idea of the objective-centered for-mulism on the basis of decomposition of closed-loop response profile is clarified first followed by a detailed description of the scheme. Unlike the existing adaptive fuzzy control methods, the rules and the membership functions of the fuzzy controller in the new scheme are fixed and the adaptation is done on the input and output weighting factors of the fuzzy controller. A simulation analysis is conducted to evaluate the controller performance in regulating a structure-varying process, and to illustrate the advantage of the scheme in controlling plants that can not be easily handled by other control approaches.

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