| A FUZZY UNCERTAINTY COMPENSATOR FOR MANIPULATOR TRAJECTORY TRACKING |
| |
| 作者姓名： | ChenWuwei JamesKMills |
| |
| 作者单位： | Chen WuweiSchool of Mechanical andAutomotive Engineering，Hefei University of Technology，Hefei 230009，ChinaJames K MillsDepartment of Mechanical andIndustrial Engineering，University of TorontoSun DongDepartment of Manufacturing Engineeringand Engineering Management，City University of Hong Kong |
| |
| 摘 要： | A novel fuzzy logic compensating (FLC) scheme is proposed to enhance the conventional computed-torque control (CTC) structure of manipulators The control scheme is based on the combination of a classical CTC and FLC, and the resulting control scheme has a simple structure with improved robustness. Further improvement of the performance of the FLC scheme is achieved through automatic tuning of a weight parameter a leading to a self-tuning fuzzy logic compensator, so the system uncertainty can be compensated very well. By taking into account the full nonlinear nature of the robotic dynamics, the overall closed-loop system is shown to be asymptotically stable. Experimental results demonstrate the effectiveness of the computed torque and fuzzy compensation scheme to control a manipulator during a trajectory tracking task.
|
| 关 键 词： | 扭矩控制器 不确定度 轨迹跟踪 模糊控制 FLC CTC |
A FUZZY UNCERTAINTY COMPENSATOR FOR MANIPULATOR TRAJECTORY TRACKING |
| |
| Chen Wuwei,James K Mills,Sun Dong.A FUZZY UNCERTAINTY COMPENSATOR FOR MANIPULATOR TRAJECTORY TRACKING[J].Chinese Journal of Mechanical Engineering,2003,16(1):17-20. |
| |
| Authors: | Chen Wuwei James K Mills Sun Dong |
| |
| Affiliation: | [1]SchoolofMechanicalandAutomotiveEngineering,HefeiUniversityofTechnology,Hefei230009,China [2]DepartmentofMechanicalandIndustrialEngineering,UniversityofToronto |
| |
| Abstract: | A novel fuzzy logic compensating (FLC) scheme is proposed to enhance the conventional computed-torque control (CTC) structure of manipulators The control scheme is based on the combination of a classical CTC and FLC, and the resulting control scheme has a simple structure with improved robustness. Further improvement of the performance of the FLC scheme is achieved through automatic tuning of a weight parameter a leading to a self-tuning fuzzy logic compensator, so the system uncertainty can be compensated very well. By taking into account the full nonlinear nature of the robotic dynamics, the overall closed-loop system is shown to be asymptotically stable. Experimental results demonstrate the effectiveness of the computed torque and fuzzy compensation scheme to control a manipulator during a trajectory tracking task. |
| |
| Keywords: | Manipulator Trajectory tracking Fuzzy compensator |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
