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

被引：8

作者：

Chiu, Chian-Song ^{[1
]}

Lian, Kuang-Yow

Liu, Peter

机构：

[1] Chien Kuo Technol Univ, Dept Elect Engn, Changhua 50050, Taiwan

[2] Chung Yuan Christian Univ, Dept Elect Engn, Chungli 32023, Taiwan

[3] BENQ Corp, BG Networking & Commun, Taipei 114, Taiwan

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2006年 / 14卷 / 03期

关键词：

adaptive fuzzy control; H-infinity performance; holonomic systems; linear matrix inequality (LMI); motion/force control;

D O I：

10.1109/TCST.2006.872527

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

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-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.

引用

页码：456 / 466

页数：11

共 27 条

[1] Adaptive control of a class of nonlinear systems with a first-order parameterized Sugeno fuzzy approximator [J].

Alata, M ;

Su, CY ;

Demirli, K .

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART C-APPLICATIONS AND REVIEWS, 2001, 31 (03) :410-419

[2]

Boy S., 1994, Linear MatrixInequalities in System and Control Theory

[3] Robust tracking designs for both holonomic and nonholonomic constrained mechanical systems: Adaptive fuzzy approach [J].

Chang, YC ;

Chen, BS .

IEEE TRANSACTIONS ON FUZZY SYSTEMS, 2000, 8 (01) :46-66

[4]

Chen BS, 1996, IEEE T FUZZY SYST, V4, P32, DOI 10.1109/91.481843

[5] Robust adaptive motion/force tracking control design for uncertain constrained robot manipulators [J].

Chiu, CS ;

Lian, KY ;

Wu, TC .

AUTOMATICA, 2004, 40 (12) :2111-2119

[6]

Goléa N, 2002, PROCEEDINGS OF THE 2002 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOL 1 & 2, P330, DOI 10.1109/FUZZ.2002.1005011

[7] A robust adaptive fuzzy position/force control scheme for cooperative manipulators [J].

Gueaieb, W ;

Karray, F ;

Al-Sharhan, S .

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2003, 11 (04) :516-528

[8] Adaptive control of a class of nonlinear systems with nonlinearly parameterized fuzzy approximators [J].

Han, H ;

Su, CY ;

Stepanenko, Y .

IEEE TRANSACTIONS ON FUZZY SYSTEMS, 2001, 9 (02) :315-323

[9] AN ADAPTIVE-CONTROL SCHEME FOR COORDINATED MULTIMANIPULATOR SYSTEMS [J].

JEAN, JH ;

FU, LC .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1993, 9 (02) :226-231

[10] Decentralized adaptive fuzzy control of robot manipulators [J].

Jin, YC .

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS, 1998, 28 (01) :47-57

← 1 2 3 →