Real-time Fuzzy Fractional-Order Control of Electrically Driven Flexible-Joint Robots | ||
| AUT Journal of Modeling and Simulation | ||
| مقاله 2، دوره 52، شماره 1، شهریور 2020، صفحه 11-18 اصل مقاله (1013.14 K) | ||
| نوع مقاله: Research Article | ||
| شناسه دیجیتال (DOI): 10.22060/miscj.2018.13523.5075 | ||
| نویسندگان | ||
| Alireza izadbakhsh* 1؛ saeed khorashadizadeh2؛ Payam Kheirkhahan1 | ||
| 1Department of Electrical Engineering, Garmsar branch, Islamic Azad University, Garmsar, Iran | ||
| 2Department of Electrical Engineering, University of Birjand, Birjand, Iran | ||
| چکیده | ||
| Fractional order control of electrically driven flexible-joint robots has been addressed in this paper. The controller design strategy is based on the actuators' electrical subsystem considering to voltage saturation nonlinearity. Hence, the knowledge of the actuator/robot dynamics model is not required as it is for many other control strategies. The overall closed-loop system is proven to be stable and the joint position tracking error is uniformly bounded based on the Lyapunov’s stability concept. The satisfactory performance of the proposed control scheme is verified by experimental results. | ||
| کلیدواژهها | ||
| Actuator saturation؛ flexible-joint manipulator؛ fractional-order control؛ indirect adaptive fuzzy control؛ voltage control strategy | ||
| مراجع | ||
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