One DOF robot manipulator control through type-2 fuzzy robust adaptive controller

• Autorzy: Naderolasli Amir , Chatraei Abbas

Identyfikatory

DOI

10.14313/JAMRIS_1-2019/7

• Języki publikacji: EN

Abstrakty

EN

In this article, the one DOF robot manipulator control is assessed through second type robust fuzzy-adaptive controller. The objective is to obtain a tracking path with appropriate accuracy. The stability of the closed loop system is verified through Lyapunov stability theory and the efficiency of tracking is analyzed subject to the constraints and uncertainty. In order to design the fuzzy controller a set of if-then fuzzy rules are considered which describe the system input-output behavior. Simulation and the results of the experiments on the one DOF robots indicate the effectiveness of the proposed methods.

Słowa kluczowe

EN

robot manipulator; Lyapunov function; one-DOF robot; adaptive fuzzy controller; robust

PL

manipulator robota; funkcja Lapunowa; sterownik adaptacyjno-rozmyty

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2019
• Tom: Vol. 13, No. 1
• Strony: 65--70
• Opis fizyczny: Bibliogr. 24 poz., rys.

Twórcy

autor

Naderolasli Amir

• Department of Electrical Engineering, Najaf Abad Branch, Islamic Azad University, Isfahan, Iran, www: http://researchgate.net/amir_naderolasli/

autor

Chatraei Abbas

• Department of Electrical Engineering, Najaf Abad Branch, Islamic Azad University, Isfahan, Iran, www: http://research.iaun.ac.ir/pd/abbas.chatraei/

Bibliografia

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Uwagi

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).