基于反步法的电动机器人自适应模糊钝化控制

Javad Keighobadi, M. Fateh, H. Chenarani
{"title":"基于反步法的电动机器人自适应模糊钝化控制","authors":"Javad Keighobadi, M. Fateh, H. Chenarani","doi":"10.1109/ICROM.2018.8657516","DOIUrl":null,"url":null,"abstract":"This paper presents a new passivity-based adaptive fuzzy voltage controller for electrically driven robotic manipulators. Moreover, the backstepping method is utilized to passivate the system step by step. It is worth noting that the integral of joint position is augmented as an additional state variable to upgrade the system performance. The manipulator dynamics and the actuators are regarded as unknown terms in the design mechanism where fuzzy approximators are employed to identify them. The boundedness of all states is verified through the passivity analysis. Simulation results on a 2-DOF robotic manipulator driven by permanent magnet Dc motors show the potential of the proposed voltage controller in tracking the desired trajectory.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"7","resultStr":"{\"title\":\"Adaptive Fuzzy Passivation Control Based on Backstepping Method for Electrically Driven Robotic Manipulators\",\"authors\":\"Javad Keighobadi, M. Fateh, H. Chenarani\",\"doi\":\"10.1109/ICROM.2018.8657516\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents a new passivity-based adaptive fuzzy voltage controller for electrically driven robotic manipulators. Moreover, the backstepping method is utilized to passivate the system step by step. It is worth noting that the integral of joint position is augmented as an additional state variable to upgrade the system performance. The manipulator dynamics and the actuators are regarded as unknown terms in the design mechanism where fuzzy approximators are employed to identify them. The boundedness of all states is verified through the passivity analysis. Simulation results on a 2-DOF robotic manipulator driven by permanent magnet Dc motors show the potential of the proposed voltage controller in tracking the desired trajectory.\",\"PeriodicalId\":383818,\"journal\":{\"name\":\"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)\",\"volume\":\"52 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2018-10-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"7\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICROM.2018.8657516\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICROM.2018.8657516","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 7

摘要

提出了一种新的基于无源的电动机械臂自适应模糊电压控制器。此外,采用反推法对系统进行了逐步钝化。值得注意的是,将关节位置积分作为一个附加的状态变量进行增大以提升系统性能。在机构设计中,将机械臂动力学和作动器视为未知项,采用模糊逼近器对其进行辨识。通过无源性分析验证了所有状态的有界性。对永磁直流电动机驱动的二自由度机械臂的仿真结果表明,所提出的电压控制器在跟踪期望轨迹方面具有潜力。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Adaptive Fuzzy Passivation Control Based on Backstepping Method for Electrically Driven Robotic Manipulators
This paper presents a new passivity-based adaptive fuzzy voltage controller for electrically driven robotic manipulators. Moreover, the backstepping method is utilized to passivate the system step by step. It is worth noting that the integral of joint position is augmented as an additional state variable to upgrade the system performance. The manipulator dynamics and the actuators are regarded as unknown terms in the design mechanism where fuzzy approximators are employed to identify them. The boundedness of all states is verified through the passivity analysis. Simulation results on a 2-DOF robotic manipulator driven by permanent magnet Dc motors show the potential of the proposed voltage controller in tracking the desired trajectory.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信