Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Design of a Robust Controller for Uncertain Robot Manipulators with Torque Saturation using a Fuzzy Algorithm

토크 한계를 갖는 불확실한 로봇 매니퓰레이터의 퍼지 논리를 이용한 강인 제어기의 설계

  • 최형식 (한국해양대학교 기계공학과) ;
  • 박재형 (동아대학교 전자공학과)
  • Published : 2000.01.01
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Abstract

Robot manipulators, which are nonlinear structures and have uncertain system parameters, have complex in dynamics when are operated in unknown environment. To compensate for estimate errors of the uncertain system parameters and to accomplish the desired trajectory tracking, nonlinear robust controllers are appropriate. However, when estimation errors or tracking errors are large, they require large input torques, which may not be satisfied due to torque limits of actuators. As a result, their stability can not be guaranteed. In this paper, a new robust control scheme is presented to solve stability problem and to achieve fast trajectory tracking in the presence of torque limits. By using fuzzy logic, new desired trajectories which can be reduced are generated based on the initial desired trajectory, and torques of the robust controller are regulated to not exceed torque limits. Numerical examples are shown to validate the proposed controller using an uncertain two degree-of-freedom underwater robot manipulator.

Keywords

References

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