期刊論文
| 學年 | 94 |
|---|---|
| 學期 | 2 |
| 出版（發表）日期 | 2006-05-01 |
| 作品名稱 | Adaptive control of holonomic constrained systems: a feedforward fuzzy approximation based approach |
| 作品名稱（其他語言） | |
| 著者 | Chiu, C.S.; Lian, K.Y.; Liu, Peter |
| 單位 | 淡江大學電機工程學系 |
| 出版者 | Institute of Electrical and Electronics Engineers(IEEE) |
| 著錄名稱、卷期、頁數 | IEEE Transactions on Control Systems Technology 14(3), pp.456-466 |
| 摘要 | This paper proposes a novel adaptive fuzzy control scheme for the motion/force tracking control of holonomic constrained systems with poorly understood models and disturbances. Some disadvantages of traditional adaptive fuzzy controllers are removed here. In comparison to typical state-feedback fuzzy approximation, the uncertainties are compensated based on a feedforward fuzzy approximation (FFA), which takes desired commands as the premise variables of fuzzy rules. In detail, a unified control model is introduced for representing well-known holonomic systems with an environmental constraint or a set of closed kinematic chains. Then, the FFA-based fuzzy system, adaptation mechanism, and auxiliary-compensating control are derived to ensure robust motion and force tracking in a global manner. Furthermore, a feasible solution for the derived linear matrix inequality guarantees the attenuation of both disturbances and fuzzy parameter errors in an L/sub 2/-gain sense. Finally, two applications are carried out on: 1) a two-link constrained robot and 2) two planar robots transporting a common object. Numerical simulation results show the expected performance. |
| 關鍵字 | Adaptive control;Fuzzy control;Fuzzy systems;Force control;Programmable control;Tracking;Motion control;Robot sensing systems;Uncertainty;Kinematics |
| 語言 | en_US |
| ISSN | 1063-6536 |
| 期刊性質 | 國內 |
| 收錄於 | |
| 產學合作 | |
| 通訊作者 | |
| 審稿制度 | 否 |
| 國別 | TWN |
| 公開徵稿 | |
| 出版型式 | ,電子版,紙本 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/55120 ) |