A precise robust fuzzy control of robots using voltage control strategy |
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Authors: | Mohammad Mehdi Fateh Sara Fateh |
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Affiliation: | 1697. Department of Electrical and Robotic Engineering, Shahrood University of Technology, Shahrood, 3619995161, Iran
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Abstract: | Fuzzy control of robot manipulators with a decentralized structure is facing a serious challenge. The state-space model of a robotic system including the robot manipulator and motors is in non-companion form, multivariable, highly nonlinear, and heavily coupled with a variable input gain matrix. Considering the problem, causes and solutions, we use voltage control strategy and convergence analysis to design a novel precise robust fuzzy control (PRFC) approach for electrically driven robot manipulators. The proposed fuzzy controller is Mamdani type and has a decentralized structure with guaranteed stability. In order to obtain a precise response, we regulate a fuzzy rule which governs the origin of the tracking space. The proposed design is verified by stability analysis. Simulations illustrate the superiority of the PRFC over a proprotional derivative like (PD-like) fuzzy controller applied on a selective compliant assembly robot arm (SCARA) driven by permanent magnet DC motors. |
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Keywords: | Precise performance fuzzy control robot manipulator voltage control strategy convergence analysis stability analysis |
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