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| 題名: | Adaptive control of holonomic constrained systems: a feedforward fuzzy approximation based approach |
| 作者: | Chiu, C.S.;Lian, K.Y.;Liu, Peter |
| 貢獻者: | 淡江大學電機工程學系 |
| 關鍵詞: | Adaptive control;Fuzzy control;Fuzzy systems;Force control;Programmable control;Tracking;Motion control;Robot sensing systems;Uncertainty;Kinematics |
| 日期: | 2006-03 |
| 上傳時間: | 2011-08-16 20:19:52 (UTC+8) |
| 出版者: | Institute of Electrical and Electronics Engineers(IEEE) |
| 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. |
| 關聯: | IEEE Transactions on Control Systems Technology 14(3), pp.456-466 |
| DOI: | 10.1109/TCST.2006.872527 |
| 顯示於類別: | [電機工程學系暨研究所] 期刊論文
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