机器人遥控模糊控制器的稳定设计

2009 IEEE Workshop on Computational Intelligence in Virtual Environments Pub Date : 2009-05-15 DOI:10.1109/CIVE.2009.4926310

R. Precup, S. Preitl, E. Petriu, J. Tar, M. Radac, C. Dragos

{"title":"机器人遥控模糊控制器的稳定设计","authors":"R. Precup, S. Preitl, E. Petriu, J. Tar, M. Radac, C. Dragos","doi":"10.1109/CIVE.2009.4926310","DOIUrl":null,"url":null,"abstract":"The paper presents a stable design approach for a new class of Takagi-Sugeno PI-fuzzy servo-controllers used in robotic telemanipulation. The approach makes use of the Iterative Feedback Tuning, the nonlinearity vectors in the matrix space, and the modal equivalence principle. Real-time experimental results validate the proposed design approach. Emphasis is put on system's behavior with respect to several modifications of the disturbance input specific to virtual environments.","PeriodicalId":410072,"journal":{"name":"2009 IEEE Workshop on Computational Intelligence in Virtual Environments","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2009-05-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Stable design of fuzzy controllers for robotic telemanipulation applications\",\"authors\":\"R. Precup, S. Preitl, E. Petriu, J. Tar, M. Radac, C. Dragos\",\"doi\":\"10.1109/CIVE.2009.4926310\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The paper presents a stable design approach for a new class of Takagi-Sugeno PI-fuzzy servo-controllers used in robotic telemanipulation. The approach makes use of the Iterative Feedback Tuning, the nonlinearity vectors in the matrix space, and the modal equivalence principle. Real-time experimental results validate the proposed design approach. Emphasis is put on system's behavior with respect to several modifications of the disturbance input specific to virtual environments.\",\"PeriodicalId\":410072,\"journal\":{\"name\":\"2009 IEEE Workshop on Computational Intelligence in Virtual Environments\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2009-05-15\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2009 IEEE Workshop on Computational Intelligence in Virtual Environments\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CIVE.2009.4926310\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2009 IEEE Workshop on Computational Intelligence in Virtual Environments","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CIVE.2009.4926310","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 0

摘要

提出了一种用于机器人遥控的新型Takagi-Sugeno pi -模糊伺服控制器的稳定设计方法。该方法利用了迭代反馈调谐、矩阵空间中的非线性向量和模态等效原理。实时实验结果验证了所提出的设计方法。重点放在系统的行为相对于一些修改的干扰输入特定于虚拟环境。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Stable design of fuzzy controllers for robotic telemanipulation applications

The paper presents a stable design approach for a new class of Takagi-Sugeno PI-fuzzy servo-controllers used in robotic telemanipulation. The approach makes use of the Iterative Feedback Tuning, the nonlinearity vectors in the matrix space, and the modal equivalence principle. Real-time experimental results validate the proposed design approach. Emphasis is put on system's behavior with respect to several modifications of the disturbance input specific to virtual environments.

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

2009 IEEE Workshop on Computational Intelligence in Virtual Environments

自引率

0.00%

发文量