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A mu-synthesis controller of a four mass manipulator arm system with structured uncertainty is presented. The system with uncertainties on parameters of plants such as damping ratios and stiffness of gears is modeled to a LFT form. The process of finding a stabilizing controller for nominal and perturbed system is based on mu-synthesis method. The resulting controller has been tested in standard manipulator...
In this paper, a novel hybrid fuzzy proportional-integral-derivative (PID) controller based on learning automata for optimal tracking of robot systems including motor dynamics is presented. Learning automata is used at the supervisory level for adjustment of the parameters of hybrid Fuzzy-PID controller during the system operation. The proposed method has better convergence rate in comparison with...
Sliding mode control had been designed for robot manipulators at presents popularly, but the chattering is also a primary factor which infected the precise of the trace tracking of robot manipulators. This paper proposed a sliding mode control combined with a low-pass filter to deduce the influence by chattering and increase the precise of the trace tracking of robot manipulators. The stability and...
Rigid planar space robot is represented as Caplygin system and its base attitude can be stabilized by means of geometric phase. However, in cases when flexible arms are used for control of base attitude, inherent resonance modes are excited and instability is resulted. In this study we propose a stabilized controller is synthesized as adaptive tracking control system convined with sliding mode control...
Shape memory alloy (SMA) composites offer a great potential as actuators because of its excellent power to weight ratio, smooth motion and silent actuation. However, SMA actuated robotic manipulator systems have severe hysteresis, system nonlinearities, model and parametric uncertainties those are often responsible for position inaccuracy in a regulation or tracking system. A simple and upstanding...
The stability of the spacecraft attitude is very important to the normal work of solar cells and the communication between the system and earth. Therefore a work mode of free floating space robot (FFSR) with zero-disturbance spacecraft attitude is presented; the dynamic equation of FFSR with zero-disturbance spacecraft attitude is derived based on Lagrange method; the smooth and consecutive joint...
In this paper, an adaptive fuzzy sliding mode controller is proposed for a three-axis SCARA manipulator. The proposed controller possesses the advantages of adaptive control, fuzzy control, and sliding mode control. Based on the concept of sliding mode, fuzzy rules are developed to alleviate the input chattering effectively by using the developed adaptation law. The stability of the three-axis SCARA...
This paper addresses the issue of trajectory tracking control based on a neural network controller for industrial manipulators. A new control scheme is proposed based on neural network technology and linear feedback approach for tracking a planned trajectory. The control system is established with two parallel subsystems designed separately. One is a linear controller based on state feedback with...
This paper presents a kind of multiple model adaptive controller based on fuzzy supervisor for the control system of robots with uncertain parameters. The controller uses the structure of model reference control system and adopts a fuzzy supervisor who controls the switching of respective control models instead of tuning dynamically the parameters of controller to tune control input. So a lot of calculations...
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