Fuzzy logic controller for robot manipulator control system

Jakubiec, Beata

doi:10.1109/ptze.2018.8503205

Cited by 3 publications

(2 citation statements)

References 5 publications

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“…On the other hand in [30], a sane 3-DOF manipulator robot condition is taken into account. • Fuzzy logic control has been used widely to control manipulator robots in diverse papers such as [41][42][43][44]. Nevertheless, the trial and error conduct to the considerable limitation of these techniques [45].…”

Section: Introductionmentioning

confidence: 99%

Fault Tolerant Control of Robot Manipulators Based on Adaptive Fuzzy Type-2 Backstepping in Attendance of Payload Variation

Rahali¹,

Zeghlache²,

Benyettou³

2021

IJIES

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In this study, an adaptive fuzzy type-2 backstepping controller (AFT2BC) has been proposed for an industrial PUMA560 manipulator robot with a variable load and actuator faults. The method realizes an accurate tracking of the trajectory at the end effectors of the manipulator and improves its robustness toward model uncertainty (payload variation) and actuator faults when controlling the position of the robot. By using the advantages of the backstepping control, the convergence speed of the control algorithm has been improved, and its steady-state error has been reduced. Also, integration of the continuous approximation law has been used to eliminate the real-time chattering during the control process without affecting the robustness of the system. A type-2 fuzzy adaptive control law has been designed in order to guaranty faults and uncertainties compensation, small tracking error, and fast transient response, where the prior knowledge of uncertainties and external disturbances is not required, without disappearing the tracking precision and robustness property. Finally, the stability of the controller has been proved by the Lyapunov theory, and comparative simulations in faulty operation are conducted to show the superiority of the developed control strategy.

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Section: Introductionmentioning

confidence: 99%

Fault Tolerant Control of Robot Manipulators Based on Adaptive Fuzzy Type-2 Backstepping in Attendance of Payload Variation

Rahali¹,

Zeghlache²,

Benyettou³

2021

IJIES

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“…Although FO models fit well with real data, other methods of describing empirical properties find their supporters. Alternative methods include models derived from physical description, neural networks, fuzzy sets, or fractals [34,48,49]. Therefore, before implementing a given method to describe sensors, which will have a practical implementation, one should be critical of the selected method.…”

Section: Introductionmentioning

confidence: 99%

Influence of Methods Approximating Fractional-Order Differentiation on the Output Signal Illustrated by Three Variants of Oustaloup Filter

Wiora

2020

Symmetry

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Fractional-order (FO) differential equations are more and more frequently applied to describe real-world applications or models of phenomena. Despite such models exhibiting high flexibility and good fits to experimental data, they introduce their inherent inaccuracy related to the order of approximation. This article shows that the chosen model influences the dynamic properties of signals. First, we calculated symbolically the steady-state values of an FO inertia using three variants of the Oustaloup filter approximation. Then, we showed how the models influence the Nyquist plots in the frequency domain. The unit step responses calculated using different models also have different plots. An example of FO control system evidenced different trajectories dependent on applied models. We concluded that publicized parameters of FO models should also consist of the name of the model used in calculations in order to correctly reproduce described phenomena. For this reason, the inappropriate use of FO models may lead to drawing incorrect conclusions about the described system.

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A review of the literature on fuzzy-logic approaches for collision-free path planning of manipulator robots

2022

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Fuzzy logic controller for robot manipulator control system

Cited by 3 publications

References 5 publications

Fault Tolerant Control of Robot Manipulators Based on Adaptive Fuzzy Type-2 Backstepping in Attendance of Payload Variation

Fault Tolerant Control of Robot Manipulators Based on Adaptive Fuzzy Type-2 Backstepping in Attendance of Payload Variation

Influence of Methods Approximating Fractional-Order Differentiation on the Output Signal Illustrated by Three Variants of Oustaloup Filter

A review of the literature on fuzzy-logic approaches for collision-free path planning of manipulator robots

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