Adaptive control of holonomic constrained systems: a feedforward fuzzy approximation based approach
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
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