Adaptive tracking control of hydraulic robot manipulator using hybrid intelligent system (ANFIS)

被引：0

作者：

Fateh, Makhloufi ^{[1
]}

Noureddine, Guersi ^{[2
]}

Mohamed, Frihi ^{[2
]}

机构：

[1] Department of Mechanical Engineering, University Badji Mokhtar(UBMA), BP 12-23000, Annaba, Algeria

[2] Department of Electronics, University Badji Mokhtar(UBMA), BP 12-23000, Annaba, Algeria

来源：

Mediterranean Journal of Measurement and Control | 2014年 / 10卷 / 04期

关键词：

Adaptive neuro-fuzzy inference system - Adaptive tracking control - Comparative evaluations - Computed torque controllers - Hybrid intelligent system - Robot arms - Structured uncertainties - Unstructured uncertainty;

D O I：

暂无

中图分类号：

学科分类号：

摘要：

The motion control of an experimental hydraulically actuated robot with structured uncertainty (parameter uncertainty, unknown loads, inaccuracies in the torque constants of the actuators, and others) and unstructured uncertainty (high-frequency modes, neglected time-delays, unknown friction forces, stick-slip oscillations, and unknown oil viscosity, etc...) is considered. As a solution we propose two control techniques based on ANFIS: Adaptive Neuro Fuzzy Inference System based computed torque controller (type PD), and Adaptive Neuro Fuzzy Inference System based PD plus I controller. Comparative evaluations with respect to conventional PD controller are presented to validate the controllers design. The simulated and experimental results presented emphasize that a satisfactory tracking precision could be achieved using ANFIS controllers. Copyright © 2014 SoftMotor Ltd.

引用

页码：292 / 299