Design and Stability Analysis of a Robust Impedance Control System for a Robot Manipulator

Soltanpour, Mohammad Reza; Shafiei, Seyed Ehsan; Sattari, Shahid

doi:10.24846/v19i1y201001

Cited by 5 publications

(7 citation statements)

References 24 publications

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“…The supervisor (4) and (5), in this paper, is different in comparison with the supervisor described in [2] . Here, the main ingredient of supervisor is the index of performance of feedback control systems.…”

Section: Switching Control Systemsmentioning

confidence: 81%

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Robust Switching Control Systems with Input Delay

Filipović¹

2011

SIC

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This paper uses the concept of multiple models and the concept of switching controllers. The analog part of the system is described by a finite set of continuous-time models with input delays. The continuous-time models include unmodeled dynamics in the form of affine matrix family. By using suitable transformation, the models with input delay are converted into delay free models. Then, by using the LMI tool, the class of robust LQ controllers with the prescribed degree of stability is proposed and for every controller the upper bound for the performance index is given. The switching logic is based on the selection of minimal upper bound from the collection of upper bounds. Finally, it is shown by means of performance dominant conditions, that the resulting closed-loop is stable.

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Section: Switching Control Systemsmentioning

confidence: 81%

“…In [4] was considered unicycle and constrained pendulum as examples for switched control systems. The reference [5] presents impedance control of a robot manipulator using hybrid control.…”

Section: Introductionmentioning

confidence: 99%

Robust Switching Control Systems with Input Delay

Filipović¹

2011

SIC

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“…Fig. 3 Robot manipulator with two degrees of freedom www.ietdl.org 6 Case study A robot manipulator with two degrees of freedom (Fig. 3) is used to investigate the performance of the proposed control method in this section.…”

Section: Advantages Of Adaptive Fuzzy Sliding Mode Controlmentioning

confidence: 99%

“…Along with these characteristics, structured uncertainties produced by model inaccuracy of link parameters, payload variation and so on, and un-structured uncertainties caused by un-modelled dynamics, such as external disturbances and non-linear friction, make the motion control of rigid-link manipulators a complicated task. Furthermore, saturation non-linearity of actuators is a constraint in the robot controller designs that is often ignored in control design of robot manipulators [1][2][3][4][5][6][7].…”

Section: Introductionmentioning

confidence: 99%

Robust control strategy for electrically driven robot manipulators: adaptive fuzzy sliding mode

Soltanpour

Otadolajam

Khooban

2015

IET Science, Measurement & Technology

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In this study, a sliding mode controller is designed to control the position tracking of robot manipulator. The proposed control has global asymptotical stability in the presence of structured uncertainties, un-structured uncertainties and un-modelled dynamics of the robot manipulator as well as in motors dynamics. The proposed control structure is designed in such a way that initially, by using inverse dynamic method, it reduces the uncertainties bound and finally, sliding mode control eliminates the influence of the remaining uncertainties in closed-loop system stability. Further, in control input for eliminating undesirable chattering phenomena using the fuzzy logic, an adaptive fuzzy approximator is designed in such way that approximates the uncertainty bounds. Mathematical proof shows that the adaptive fuzzy sliding mode control of a closed-loop system has global asymptotical stability. Since the number of existing fuzzy rules are low in adaptive fuzzy approximator rules base and in single input-single output form, so control input computational load is very low and this order makes the proposed control of practical implementation possible. To evaluate the performance of the proposed controller, a case study on a robot manipulator with two degrees of freedom is implemented. Simulation results show the desired performance of the proposed controller.

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“…The neural network [4] training is ensured by a software component that implements the wellknown backpropagation algorithm. For the classification of the vectors bearing the characteristics of the shapes in the input space, the model of the multilayer perceptron was used.…”

Section: Lupu De Tiliutementioning

confidence: 99%

The Communication in Distributed Client - Server Systems Used for Management of Flexible Manufacturing Systems

Lupu

Tiliute

2011

INT J COMPUT COMMUN

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Labour productivity growth is a necessary condition for social and economic progress, in general, and to overcome the economic crisis facing most of the world, in special. Applying innovative solutions, based on the ITC, is one of the straight ways for achieving that objective, both important and necessary. This paper presents a software solution applicable to industrial production based on numerically controlled machines. It involves a distributed client -server communication system, combined with MLP neural networks for the recognition of the 2D industrial objects, viewed from any angle. The information on prismatic and rotational parts to be processed by numerically controlled machine, are stored on a database server together with the corresponding processing programs. The client applications run on the numerically controlled machines and on the robots serving groups of machines. While the machines are fixed, the robots are mobile and can move from a machine to another. As a novelty of the proposed solution, in some well defined situations, the clients are allowed to change messages among them, in order to avoid the server overload. The neural networks are used to help robots to recognize the parts before and during manipulation.

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Design and Stability Analysis of a Robust Impedance Control System for a Robot Manipulator

Cited by 5 publications

References 24 publications

Robust Switching Control Systems with Input Delay

Robust Switching Control Systems with Input Delay

Robust control strategy for electrically driven robot manipulators: adaptive fuzzy sliding mode

The Communication in Distributed Client - Server Systems Used for Management of Flexible Manufacturing Systems

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