Fuzzy adaptive robust control for space robot considering the effect of the gravity

Qin, Li; Liu, Fucai; Liang, Lihuan; Jingfang, Gao

doi:10.1016/j.cja.2014.10.023

Cited by 15 publications

(3 citation statements)

References 13 publications

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“…However, in some complex nonlinear systems, the control accuracy of PID algorithm may not be high enough, and parameters need to be adjusted according to specific control objects and environmental conditions. Therefore, in the past studies (Parra-Vega et al, 2003;Qin et al, 2014;Krishna and Vasu, 2018;Srivastava et al, 2018), more and more scholars will fit into the traditional intelligent control algorithm of PID algorithm, through a combination between the two ways to improve control performance and precision of the algorithm. For example, Djaneye-Boundjou et al ( 2016) developed a stable adaptive particle swarm optimizer to automatically adjust the parameters of PID gain; Shamseldin and Mohamed A (Shamseldin, 2021) improved the optimization model by simulating how covid-19 spreads and infuses, and proposed an efficient covid-19 optimization algorithm to obtain the optimal value of the PD/PID cascade controller.…”

Section: Introductionmentioning

confidence: 99%

Control and physical verification of 6-DOF manipulator for power inspection robots based on expert PID algorithm

Jiang,

Wang,

Liu

2024

Front. Energy Res.

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To enhance the performance of power inspection robots in intricate nuclear power stations, it is necessary to improve their response speed and accuracy. This paper uses the manipulator of the power inspection robot as the primary research object, and unlike previous control algorithm research, which only remained in the software simulation stage, we constructed a set of physical verification platforms based on CAN communication and physically verified the robotic arm’s control algorithm. First, the forward motion model is established based on the geometric structure of the manipulator and D-H parameter method, and the kinematic equation of the manipulator is solved by combining geometric method and algebraic method. Secondly, in order to conduct comparison tests, we designed PID controllers and expert PID controllers by utilising the expertise of experts. The results show that compared with the traditional PID algorithm, the expert PID algorithm has a faster response speed in the control process of the manipulator. It converges quickly in 0.75 s and has a smaller overshoot, with a maximum of only 6.9%. This confirms the expert PID algorithm’s good control effect on the robotic arm, allowing the six-degree-of-freedom robotic arm to travel more accurately and swiftly along the trajectory of the target point.

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Section: Introductionmentioning

confidence: 99%

Control and physical verification of 6-DOF manipulator for power inspection robots based on expert PID algorithm

Jiang,

Wang,

Liu

2024

Front. Energy Res.

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“…In Chu et al (2014), an adaptive fuzzy output control scheme was proposed for the robust tracking of a space manipulator based on a disturbance observer. Qin et al (2014) designed a fuzzy adaptive robust controller for a space robot considering the effect of gravity. Jia and Shan (2020) developed a NN-based adaptive terminal sliding mode controller for the finite-time trajectory tracking of space manipulator under actuator saturation.…”

Section: Introductionmentioning

confidence: 99%

Unified neural output-constrained control for space manipulator using tan-type barrier Lyapunov function

Jahanshahi

Yao

Khan

et al. 2023

Advances in Space Research

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“…It should be emphasized that fuzzy control with heuristic knowledge or linguistic information has been successfully applied to many nonlinear systems since it does not need an accurate mathematical model of the system. [5][6][7][8][9] In a study by Qin et al, 5 a fuzzy adaptive robust control strategy was put forward for the trajectory tracking control of space robot, which can control the space manipulator to achieve a good trajectory tracking effect in different gravity environments without changing the structure or parameters. In a study by Bakdi et al, 6 the off-line path planning problem for mobile robots was dealt with by combining with the fuzzy adaptive control.…”

Section: Introductionmentioning

confidence: 99%

Adaptive fuzzy dynamic surface tracking control for a class of nonlinear systems with unknown distributed time delays and backlash-like hysteresis

Yue

Wei

Chen

et al. 2017

International Journal of Advanced Robotic Systems

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In this article, an adaptive fuzzy backstepping dynamic surface control approach is developed for a class of nonlinear systems with unknown backlash-like hysteresis and unknown state discrete and distributed time-varying delays. Fuzzy logic systems are used to approximate the unknown nonlinear functions and a fuzzy state observer is designed for estimating the immeasurable states. Then, by combining the backstepping technique and the appropriate Lyapunov-Krasovskii functionals with the dynamic surface control approach, the output-feedback adaptive fuzzy tracking controller is designed. The main advantages of this article are (i) the existence of the state discrete and distributed time-varying delays such that the investigated systems are more general than that of the existing results, (ii) the proposed control scheme can eliminate the problem of "explosion of complexity" inherent in the backstepping design method, and (iii) for the nth nonlinear system, only one fuzzy logic system is used to approximate the unknown continuous time-varying delay functions since all of them are lumped into one unknown nonlinear function, which makes our design scheme easier to be implemented in practical applications. It is proven that the proposed design method is able to guarantee that all the signals in the closed-loop system are bounded and the tracking error can converge to a small neighborhood of origin with an appropriate choice of design parameters. Finally, the simulation results demonstrate the effectiveness of the proposed approach.

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Fuzzy adaptive robust control for space robot considering the effect of the gravity

Cited by 15 publications

References 13 publications

Control and physical verification of 6-DOF manipulator for power inspection robots based on expert PID algorithm

Control and physical verification of 6-DOF manipulator for power inspection robots based on expert PID algorithm

Unified neural output-constrained control for space manipulator using tan-type barrier Lyapunov function

Adaptive fuzzy dynamic surface tracking control for a class of nonlinear systems with unknown distributed time delays and backlash-like hysteresis

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