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The increased complexity of the dynamics of robots manipulator considering joint elasticity makes conventional model-based control strategies complex and difficult to synthesize. This paper presents investigations into the development of composite Fuzzy Logic Control for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, a PD-type...
In this article, we propose a two stage control design scheme for simultaneous flux regulation and angular position reference trajectory tracking in induction motors. The first outer loop design stage uses a linear GPI observer based robust control, aimed at on-line load torque estimation, thus making possible its cancellation from the controller. The stator currents act as auxiliary control input...
In this paper, we propose a control algorithm for trajectory tracking control with self balancing of unmanned bicycle by using nonlinear control based on the output-zeroing controller. The simplified model of the bicycle with the balancer is derived from Lagrangian and nonholonomic constraints with respect to translation and rotation relative to the ground plane. We derived a controller using a steering...
In this paper, the kinematics and dynamics of free-floating space robot system with dual-arms are analyzed. The closed-loop dynamic error equation considering uncertainties for the space robot is derived by using the PD type computed torque method. A new learning control method using real coded genetic algorithm is presented to control the system and its controller structure is designed. A compensating...
In this paper, a new control method called nonlinear PD learning control (NPD-LC) is proposed and applied for the trajectory tracking control of a closed loop manipulator. The proposed control algorithm is a combination of a nonlinear PD feedback control and a directly iterative learning (feedforward) control. Consequently, this new control method possesses both adaptive and learning properties. One...
The real-time torque calculation and dynamic modeling have been the difficulties in the motion control of the permanent magnet spherical stepper motor. Based on the presented continuous trajectory tracking control mode, a simplified torque calculation method and the non-linear system dynamic model have been proposed. The perturbation of the system parameters, the model error and the external disturbance...
The purpose of this paper is to propose adaptive fuzzy sliding mode control (SMC) based on radial basis function neural network (RBFNN) for trajectory tracking problem of three link robot manipulator. A RBFNN is used to compute the equivalent control of sliding mode control. A Lyapunov function is selected for the design of the SMC and an adaptive algorithm is used for weight adaptation of the RBFNN...
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