An Adaptive Fuzzy Control Method of Single-Link Flexible Manipulators with Input Dead-Zones

Zhang, Chenglin; Yang, Tong; Sun, Ning; Fang, Yongchun

doi:10.1007/s40815-020-00962-2

Cited by 11 publications

(9 citation statements)

References 61 publications

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“…Latip, Husain, Mohamed and Basri [4] Planar SL FM; MC. Zhang, Yang, Sun and Fang [5] Planar SL FM; MC. Dong, He, Ma, Zhang and Li [6] Planar SL FM; MC.…”

Section: Previous Work Limitations And/or Disadvantagesmentioning

confidence: 99%

“…Latip, Husain, Mohamed and Basri [4] used an adaptive proportional plus integral plus derivative control technique for the MC of a planar SL FM. Zhang, Yang, Sun and Fang [5] utilized an adaptive fuzzy control approach for the MC of a planar SL FM. Dong, He, Ma, Zhang and Li [6] designed an iterative learning control using proportional plus derivative control for the MC of a planar SL FM.…”

Section: Introductionmentioning

confidence: 99%

“…SL FMs [1][2][3][4][5][6][7][8][9][10], planar FMs [1][2][3][4][5][6][7][8][9][11][12][13][14][15][16][17][18][19][20][21], joint space control [20,21], inverse dynamics techniques [18,20], and singular perturbation techniques [21] utilized for the development of control approaches in recent works have been summarized in the previous paragraphs.…”

Section: Introductionmentioning

confidence: 99%

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Hybrid Force and Motion Control of a Three-Dimensional Flexible Robot Considering Measurement Noises

2022

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This work addresses the end-effector trajectory-tracking force and motion control of a three-dimensional three-link robot considering measurement noises. The last two links of the manipulator are considered as structurally flexible. An absolute coordinate approach is used while obtaining the dynamic equations to avoid complex dynamic equations. In this approach, each link is modeled as if there is no connection between the links. Then, joint connections are expressed as constraint equations. After that, these constraint equations are used in dynamic equations to decrease the number of equations. Then, the resulting dynamic equations are transformed into a form which is suitable for controller design. Furthermore, the dynamic equations are divided as pseudostatic equilibrium and deviation equations. The control torques resulting from the pseudostatic equilibrium and the elastic deflections are obtained easily as the solution of algebraic equations. On the other hand, the control torques corresponding to the deviations are obtained without any linearization. Encoders, strain gauges, position sensors and force and moment sensors are required for measurements. Low pass filters are considered for the sensors. For the crossover frequencies of the sensors, low and high values are chosen to observe the filtering effect on the robot output.

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“…Latip, Husain, Mohamed and Basri [4] Planar SL FM; MC. Zhang, Yang, Sun and Fang [5] Planar SL FM; MC. Dong, He, Ma, Zhang and Li [6] Planar SL FM; MC.…”

Section: Previous Work Limitations And/or Disadvantagesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Hybrid Force and Motion Control of a Three-Dimensional Flexible Robot Considering Measurement Noises

2022

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“…7 Fuzzy logic control [Liu et al, 2010] (68) , [Zebin and Alam, 2010] (76) , [Loudini, 2013] (80) , [Zhang et al, 2020] (130) In a fuzzy logic control, the control laws are specified with the help of linguistics. Fuzzy sets are used to establish these laws.…”

Section: Continued On Next Pagementioning

confidence: 99%

Dynamic modelling and control of flexible link manipulators: methods and scope- Part-1

Mishra¹,

Singh²

2021

IJST

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Objectives: This paper addresses two key issues in the area of flexible robotics. The issues are dynamic modelling and control of flexible link robots. A brief, yet, significant review is provided that addresses these issues. Methods: The various approaches used by researchers for dynamic modelling and control of flexible robots are presented. Besides that, methods used for achieving optimal control are also discussed. Findings: After a review of 153 research papers from the year 1975 to 2021, it has been found that a good dynamic model of flexible manipulator helps in reducing the control and computational efforts. Recent trends in research in the area of flexible manipulators are towards the use of sliding mode control and vision-based control techniques. Novelty: Inclusion of the effect of torsional vibrations besides lateral vibrations on the positional accuracy of flexible manipulators makes the current research work novel.

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“…Furthermore, the position control method and residual vibration of the flexible system were analyzed in [ 23 , 24 , 25 ]. Moreover, some optimized fuzzy control methods were proposed in [ 26 , 27 , 28 ]. However, most studies mentioned above simplified the micro-deformation manipulator into a relatively simple ideal model; these idealized models were not consistent with the actual situation [ 6 , 8 , 17 , 23 ].…”

Section: Introductionmentioning

confidence: 99%

The Boundary Proportion Differential Control Method of Micro-Deformable Manipulator with Compensator Based on Partial Differential Equation Dynamic Model

et al. 2021

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It is challenging to accurately judge the actual end position of the manipulator—regarded as a rigid body—due to the influence of micro-deformation. Its precise and efficient control is a crucial problem. To solve the problem, the Hamilton principle was used to establish the partial differential equation (PDE) dynamic model of the manipulator system based on the infinite dimension of the working environment interference and the manipulator space. Hence, it resolves the common overflow instability problem in the micro-deformable manipulator system modeling. Furthermore, an infinite-dimensional radial basis function neural network compensator suitable for the dynamic model was proposed to compensate for boundary and uncertain external interference. Based on this compensation method, a distributed boundary proportional differential control method was designed to improve control accuracy and speed. The effectiveness of the proposed model and method was verified by theoretical analysis, numerical simulation, and experimental verification. The results show that the proposed method can effectively improve the response speed while ensuring accuracy.

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An Adaptive Fuzzy Control Method of Single-Link Flexible Manipulators with Input Dead-Zones

Cited by 11 publications

References 61 publications

Hybrid Force and Motion Control of a Three-Dimensional Flexible Robot Considering Measurement Noises

Hybrid Force and Motion Control of a Three-Dimensional Flexible Robot Considering Measurement Noises

Dynamic modelling and control of flexible link manipulators: methods and scope- Part-1

The Boundary Proportion Differential Control Method of Micro-Deformable Manipulator with Compensator Based on Partial Differential Equation Dynamic Model

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