Direct adaptive fuzzy control of flexible-joint robots including actuator dynamics using particle swarm optimization
In this paper a novel direct adaptive fuzzy system is proposed to control flexible-joints robot including actuator dynamics. The design includes two interior loops: the inner loop controls the motor position using proposed approach while the outer loop controls the joint angle of the robot using a P...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Shahrood University of Technology
2017-03-01
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| Series: | Journal of Artificial Intelligence and Data Mining |
| Subjects: | |
| Online Access: | http://jad.shahroodut.ac.ir/article_739_f5ed9069b61ee046d9bf176b039d0680.pdf |
| _version_ | 1818176316269133824 |
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| author | M. Moradizirkohi S. Izadpanah |
| author_facet | M. Moradizirkohi S. Izadpanah |
| author_sort | M. Moradizirkohi |
| collection | DOAJ |
| description | In this paper a novel direct adaptive fuzzy system is proposed to control flexible-joints robot including actuator dynamics. The design includes two interior loops: the inner loop controls the motor position using proposed approach while the outer loop controls the joint angle of the robot using a PID control law. One novelty of this paper is the use of a PSO algorithm for optimizing the control design parameters to achieve a desired performance. It is worthy of note that to form control law by considering practical considerations just the available feedbacks are used. It is beneficial for industrial applications wherethe real-time computation is costly. The proposed control approach has a fast response with a good tracking performance under the well-behaved control efforts. The stability is guaranteed in the presence of both structured and unstructured uncertainties. As a result, all system states are remained bounded. Simulation results on a two-link flexible-joint robot show the efficiency of the proposed scheme. |
| first_indexed | 2024-12-11T20:14:15Z |
| format | Article |
| id | doaj.art-d23d8c79405a4473812ab9567943db0b |
| institution | Directory Open Access Journal |
| issn | 2322-5211 2322-4444 |
| language | English |
| last_indexed | 2024-12-11T20:14:15Z |
| publishDate | 2017-03-01 |
| publisher | Shahrood University of Technology |
| record_format | Article |
| series | Journal of Artificial Intelligence and Data Mining |
| spelling | doaj.art-d23d8c79405a4473812ab9567943db0b2022-12-22T00:52:13ZengShahrood University of TechnologyJournal of Artificial Intelligence and Data Mining2322-52112322-44442017-03-015113714710.22044/jadm.2016.739739Direct adaptive fuzzy control of flexible-joint robots including actuator dynamics using particle swarm optimizationM. Moradizirkohi0S. Izadpanah1Department of Electrical Engineering, Behbahan Khatam Alanbia University of Technology, Behbahan, Iran.Department of Electrical Engineering, Behbahan Khatam Alanbia University of Technology, Behbahan, Iran.In this paper a novel direct adaptive fuzzy system is proposed to control flexible-joints robot including actuator dynamics. The design includes two interior loops: the inner loop controls the motor position using proposed approach while the outer loop controls the joint angle of the robot using a PID control law. One novelty of this paper is the use of a PSO algorithm for optimizing the control design parameters to achieve a desired performance. It is worthy of note that to form control law by considering practical considerations just the available feedbacks are used. It is beneficial for industrial applications wherethe real-time computation is costly. The proposed control approach has a fast response with a good tracking performance under the well-behaved control efforts. The stability is guaranteed in the presence of both structured and unstructured uncertainties. As a result, all system states are remained bounded. Simulation results on a two-link flexible-joint robot show the efficiency of the proposed scheme.http://jad.shahroodut.ac.ir/article_739_f5ed9069b61ee046d9bf176b039d0680.pdfFuzzy SystemParticle Swarm Optimizationflexible-joints robotActuator Dynamics |
| spellingShingle | M. Moradizirkohi S. Izadpanah Direct adaptive fuzzy control of flexible-joint robots including actuator dynamics using particle swarm optimization Journal of Artificial Intelligence and Data Mining Fuzzy System Particle Swarm Optimization flexible-joints robot Actuator Dynamics |
| title | Direct adaptive fuzzy control of flexible-joint robots including actuator dynamics using particle swarm optimization |
| title_full | Direct adaptive fuzzy control of flexible-joint robots including actuator dynamics using particle swarm optimization |
| title_fullStr | Direct adaptive fuzzy control of flexible-joint robots including actuator dynamics using particle swarm optimization |
| title_full_unstemmed | Direct adaptive fuzzy control of flexible-joint robots including actuator dynamics using particle swarm optimization |
| title_short | Direct adaptive fuzzy control of flexible-joint robots including actuator dynamics using particle swarm optimization |
| title_sort | direct adaptive fuzzy control of flexible joint robots including actuator dynamics using particle swarm optimization |
| topic | Fuzzy System Particle Swarm Optimization flexible-joints robot Actuator Dynamics |
| url | http://jad.shahroodut.ac.ir/article_739_f5ed9069b61ee046d9bf176b039d0680.pdf |
| work_keys_str_mv | AT mmoradizirkohi directadaptivefuzzycontrolofflexiblejointrobotsincludingactuatordynamicsusingparticleswarmoptimization AT sizadpanah directadaptivefuzzycontrolofflexiblejointrobotsincludingactuatordynamicsusingparticleswarmoptimization |