淡江大學機構典藏:Item 987654321/55120
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    Please use this identifier to cite or link to this item: https://tkuir.lib.tku.edu.tw/dspace/handle/987654321/55120


    Title: Adaptive control of holonomic constrained systems: a feedforward fuzzy approximation based approach
    Authors: Chiu, C.S.;Lian, K.Y.;Liu, Peter
    Contributors: 淡江大學電機工程學系
    Keywords: Adaptive control;Fuzzy control;Fuzzy systems;Force control;Programmable control;Tracking;Motion control;Robot sensing systems;Uncertainty;Kinematics
    Date: 2006-03
    Issue Date: 2011-08-16 20:19:52 (UTC+8)
    Publisher: Institute of Electrical and Electronics Engineers(IEEE)
    Abstract: 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.
    Relation: IEEE Transactions on Control Systems Technology 14(3), pp.456-466
    DOI: 10.1109/TCST.2006.872527
    Appears in Collections:[Graduate Institute & Department of Electrical Engineering] Journal Article

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