Fuzzy Control for an Under-actuated Robotic Manipulator, Pendubot PDF Download

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Languages : en
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Author: Xiaoqing Ma
Publisher:
ISBN:
Category : Fuzzy algorithms
Languages : en
Pages : 0

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Control of under-actuated mechanical systems (robots) represents an important class of control problem. This thesis studies several related control problems associated with an under-actuated robot, Pendubot, from the point view of fuzzy logic control. To swing up the Pendubot from a rest position to the upright configuration, a fuzzy algorithm is proposed from non-complete sets of linguistic rules that link some mechanism states to the sign of a single control action. Therein, a simplified Tsukamoto's reasoning method and quasi-linear-mean aggregating operators are used to derive and analyze the controller input-out mappings. In order to balance the Pendubot at the unstable upright top configuration after swinging up, another simple fuzzy controller is derived according to its joint states: This combining fuzzy algorithm for swinging-up and balancing is successfully applied to the Pendubot. This thesis also investigates the case that the Pendubot tracks a desired signal and a corresponding fuzzy scheme is proposed, which combines the linear regulator theory with the Takagi-Sugeno fuzzy methodology. The stability and stability conditions for this fuzzy scheme are analyzed. Numerical simulations for all the above controllers are carried out to validate the theoretical analysis by using SIMULINK. Finally, the hardware experiments in the Pendubot have successfully been conducted in the Robotics and Mechatronics Laboratory.

Author: Jundong Wu
Publisher: Springer Nature
ISBN: 9819908906
Category : Technology & Engineering
Languages : en
Pages : 304

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This book investigates in detail cutting-edge technologies of underactuated manipulator control, which is a frontier topic in robotics that possesses great significance in energy conservation as well as fault tolerance for industrial applications. It is also the crucial technology associated with systems in special environments, including underwater or aerospace environments. So far, the topic of underactuated manipulator control has attracted engineers and scientists from various disciplines, such as applied physics, material, automation and robotics. Pursuing a holistic approach, the book establishes a fundamental framework for this topic, while emphasizing the importance of design and optimization in the control of underactuated manipulators. Chapters of the book cover a wide variety of manipulator systems, including vertical underactuated manipulator, planar underactuated manipulator with first-order nonholonomic constraint, planar underactuated manipulator with second-order nonholonomic constraint and flexible underactuated manipulator. The book is intended for undergraduate and graduate students that are interested in underactuated manipulators, researchers that investigate the design and optimization for controllers of underactuated manipulators and engineers working with underactuated systems.

Author: Patricia Melin
Publisher: Springer Science & Business Media
ISBN: 3540729178
Category : Business & Economics
Languages : en
Pages : 836

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This book comprises a selection of papers from IFSA 2007 on new methods and theories that contribute to the foundations of fuzzy logic and soft computing. Coverage includes the application of fuzzy logic and soft computing in flexible querying, philosophical and human-scientific aspects of soft computing, search engine and information processing and retrieval, as well as intelligent agents and knowledge ant colony.

Author: Gerasimos Rigatos
Publisher: Springer
ISBN: 331977851X
Category : Technology & Engineering
Languages : en
Pages : 759

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This monograph addresses problems of: • nonlinear control, estimation and filtering for robotic manipulators (multi-degree-of freedom rigid-link robots, flexible-link robots, underactuated, redundant and cooperating manipulators and closed-chain robotic mechanisms); and• nonlinear control, estimation and filtering for autonomous robotic vehicles operating on the ground, in the air, and on and under water, independently and in cooperating groups. The book is a thorough treatment of the entire range of applications of robotic manipulators and autonomous vehicles. The nonlinear control and estimation methods it develops can be used generically, being suitable for a wide range of robotic systems. Such methods can improve robustness, precision and fault-tolerance in robotic manipulators and vehicles at the same time as enabling the reliable functioning of these systems under variable conditions, model uncertainty and external perturbations.

Author: Tomáš Škulavík
Publisher:
ISBN: 9783863600785
Category :
Languages : en
Pages : 115

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Author: Limin Peng
Publisher:
ISBN:
Category : Adaptive control systems
Languages : en
Pages : 220

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Author: Israa Taqa
Publisher: LAP Lambert Academic Publishing
ISBN: 9783659575785
Category :
Languages : en
Pages : 168

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The emergence of computational intelligence technology inspired by biological and human intelligence is one of the most exciting and important fields in engineering . It is expected that these technologies like fuzzy logic, will play a significant role in the development of intelligent robotic systems, machine systems, and mechatronics systems . In this work; a Fuzzy Logic Controller is presented to control the motion of a robotic arm and avoid the obstacles existed in its mission road, using a real platform robotic arm in combination with a vision system . This work involves constructing an integrated and autonomic MATLAB program. It could be applicable for any robotic arm . It depends on a new approach in analyzing the robotic environment videos acquired by a fixed webcam. The approach uses colors to detect and recognize the changeable locations and objects' dimensions for each of the robot's end-effector, the goal, and the obstacles .

Author: Seinz Ficici
Publisher:
ISBN:
Category : Fuzzy systems
Languages : en
Pages : 248

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Author: Gerasimos G. Rigatos
Publisher: Springer
ISBN: 3319164201
Category : Technology & Engineering
Languages : en
Pages : 755

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This monograph presents recent advances in differential flatness theory and analyzes its use for nonlinear control and estimation. It shows how differential flatness theory can provide solutions to complicated control problems, such as those appearing in highly nonlinear multivariable systems and distributed-parameter systems. Furthermore, it shows that differential flatness theory makes it possible to perform filtering and state estimation for a wide class of nonlinear dynamical systems and provides several descriptive test cases. The book focuses on the design of nonlinear adaptive controllers and nonlinear filters, using exact linearization based on differential flatness theory. The adaptive controllers obtained can be applied to a wide class of nonlinear systems with unknown dynamics, and assure reliable functioning of the control loop under uncertainty and varying operating conditions. The filters obtained outperform other nonlinear filters in terms of accuracy of estimation and computation speed. The book presents a series of application examples to confirm the efficiency of the proposed nonlinear filtering and adaptive control schemes for various electromechanical systems. These include: · industrial robots; · mobile robots and autonomous vehicles; · electric power generation; · electric motors and actuators; · power electronics; · internal combustion engines; · distributed-parameter systems; and · communication systems. Differential Flatness Approaches to Nonlinear Control and Filtering will be a useful reference for academic researchers studying advanced problems in nonlinear control and nonlinear dynamics, and for engineers working on control applications in electromechanical systems.