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Model‐free discrete control for robot manipulators using a fuzzy estimator

Model‐free discrete control for robot manipulators using a fuzzy estimator Purpose – Discrete control of robot manipulators with uncertain model is the purpose of this paper. Design/methodology/approach – The proposed control design is model‐free by employing an adaptive fuzzy estimator in the controller for the estimation of uncertainty as unknown function. An adaptive mechanism is proposed in order to overcome uncertainties. Parameters of the fuzzy estimator are adapted to minimize the estimation error using a gradient descent algorithm. Findings – The proposed model‐free discrete control is robust against all uncertainties associated with the model of robotic system including the robot manipulator and actuators, and external disturbances. Stability analysis verifies the proposed control approach. Simulation results show its efficiency in the tracking control. Originality/value – A novel model‐free discrete control approach for electrically driven robot manipulators is proposed. An adaptive fuzzy estimator is used in the controller to overcome uncertainties. The parameters of the estimator are regulated by a gradient descent algorithm. The most gradient descent algorithms have used a known cost function based on the tracking error for adaptation whereas the proposed gradient descent algorithm uses a cost function based on the uncertainty estimation error. Then, the uncertainty estimation error is calculated from the joint position error and its derivative using the closed‐loop system. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png COMPEL: The International Journal for Computation and Mathematics in Electrical and Electronic Engineering Emerald Publishing

Model‐free discrete control for robot manipulators using a fuzzy estimator

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References (31)

Publisher
Emerald Publishing
Copyright
Copyright © 2014 Emerald Group Publishing Limited. All rights reserved.
ISSN
0332-1649
DOI
10.1108/COMPEL-05-2013-0185
Publisher site
See Article on Publisher Site

Abstract

Purpose – Discrete control of robot manipulators with uncertain model is the purpose of this paper. Design/methodology/approach – The proposed control design is model‐free by employing an adaptive fuzzy estimator in the controller for the estimation of uncertainty as unknown function. An adaptive mechanism is proposed in order to overcome uncertainties. Parameters of the fuzzy estimator are adapted to minimize the estimation error using a gradient descent algorithm. Findings – The proposed model‐free discrete control is robust against all uncertainties associated with the model of robotic system including the robot manipulator and actuators, and external disturbances. Stability analysis verifies the proposed control approach. Simulation results show its efficiency in the tracking control. Originality/value – A novel model‐free discrete control approach for electrically driven robot manipulators is proposed. An adaptive fuzzy estimator is used in the controller to overcome uncertainties. The parameters of the estimator are regulated by a gradient descent algorithm. The most gradient descent algorithms have used a known cost function based on the tracking error for adaptation whereas the proposed gradient descent algorithm uses a cost function based on the uncertainty estimation error. Then, the uncertainty estimation error is calculated from the joint position error and its derivative using the closed‐loop system.

Journal

COMPEL: The International Journal for Computation and Mathematics in Electrical and Electronic Engineering – Emerald Publishing

Published: Apr 29, 2014

Keywords: Modelling; Robotics; Uncertainty estimation; Adaptive fuzzy logic control; Function approximation

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