A Precise Robust Fuzzy Control of Robots Using Voltage Control Strategy

Mohammad Mehdi Fateh Sara Fateh

Mohammad Mehdi Fateh, Sara Fateh. A Precise Robust Fuzzy Control of Robots Using Voltage Control Strategy[J]. 国际自动化与计算杂志(英)/International Journal of Automation and Computing, 2013, 10(1): 64-72 . doi: 10.1007/s11633-013-0697-x
引用本文: Mohammad Mehdi Fateh, Sara Fateh. A Precise Robust Fuzzy Control of Robots Using Voltage Control Strategy[J]. 国际自动化与计算杂志(英)/International Journal of Automation and Computing, 2013, 10(1): 64-72 . doi: 10.1007/s11633-013-0697-x
Mohammad Mehdi Fateh and Sara Fateh. A Precise Robust Fuzzy Control of Robots Using Voltage Control Strategy. International Journal of Automation and Computing, vol. 10, no. 1, pp. 64-72 , 2013 doi:  10.1007/s11633-013-0697-x
Citation: Mohammad Mehdi Fateh and Sara Fateh. A Precise Robust Fuzzy Control of Robots Using Voltage Control Strategy. International Journal of Automation and Computing, vol. 10, no. 1, pp. 64-72 , 2013 doi:  10.1007/s11633-013-0697-x

A Precise Robust Fuzzy Control of Robots Using Voltage Control Strategy

doi: 10.1007/s11633-013-0697-x

A Precise Robust Fuzzy Control of Robots Using Voltage Control Strategy

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    Author Bio:

    Sara Fateh received her B. Sc. degree in robotic engineering from Shahrood Univer-sity of Technology, Iran in 2010. She re-ceived her M. Sc. degree in control engineer-ing at Shahrood University of Technology, Iran in 2012. Her thesis titled as "adaptive fuzzy control of robot manipulators using voltage control strategy" was supervised by Professor Mohammad Mehdi Fateh. Her research interests include modeling and control of robotic systems, nonlinear and fuzzy control. E-mail: ms.s.fateh@gmail.com

    Corresponding author: Mohammad Mehdi Fateh
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出版历程
  • 收稿日期:  2012-02-24
  • 修回日期:  2012-06-13
  • 刊出日期:  2013-02-20

A Precise Robust Fuzzy Control of Robots Using Voltage Control Strategy

doi: 10.1007/s11633-013-0697-x
    作者简介:

    Sara Fateh received her B. Sc. degree in robotic engineering from Shahrood Univer-sity of Technology, Iran in 2010. She re-ceived her M. Sc. degree in control engineer-ing at Shahrood University of Technology, Iran in 2012. Her thesis titled as "adaptive fuzzy control of robot manipulators using voltage control strategy" was supervised by Professor Mohammad Mehdi Fateh. Her research interests include modeling and control of robotic systems, nonlinear and fuzzy control. E-mail: ms.s.fateh@gmail.com

摘要: Fuzzy control of robot manipulators with a decentralized structure is facing a serious challenge. The state-space model of a robotic system including the robot manipulator and motors is in non-companion form, multivariable, highly nonlinear, and heavily coupled with a variable input gain matrix. Considering the problem, causes and solutions, we use voltage control strategy and convergence analysis to design a novel precise robust fuzzy control (PRFC) approach for electrically driven robot manipulators. The proposed fuzzy controller is Mamdani type and has a decentralized structure with guaranteed stability. In order to obtain a precise response, we regulate a fuzzy rule which governs the origin of the tracking space. The proposed design is verified by stability analysis. Simulations illustrate the superiority of the PRFC over a proprotional derivative like (PD-like) fuzzy controller applied on a selective compliant assembly robot arm (SCARA) driven by permanent magnet DC motors.

English Abstract

Mohammad Mehdi Fateh, Sara Fateh. A Precise Robust Fuzzy Control of Robots Using Voltage Control Strategy[J]. 国际自动化与计算杂志(英)/International Journal of Automation and Computing, 2013, 10(1): 64-72 . doi: 10.1007/s11633-013-0697-x
引用本文: Mohammad Mehdi Fateh, Sara Fateh. A Precise Robust Fuzzy Control of Robots Using Voltage Control Strategy[J]. 国际自动化与计算杂志(英)/International Journal of Automation and Computing, 2013, 10(1): 64-72 . doi: 10.1007/s11633-013-0697-x
Mohammad Mehdi Fateh and Sara Fateh. A Precise Robust Fuzzy Control of Robots Using Voltage Control Strategy. International Journal of Automation and Computing, vol. 10, no. 1, pp. 64-72 , 2013 doi:  10.1007/s11633-013-0697-x
Citation: Mohammad Mehdi Fateh and Sara Fateh. A Precise Robust Fuzzy Control of Robots Using Voltage Control Strategy. International Journal of Automation and Computing, vol. 10, no. 1, pp. 64-72 , 2013 doi:  10.1007/s11633-013-0697-x
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