...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >A Robust Hybrid Intelligent Position/Force Control Scheme for Cooperative Manipulators
【24h】

A Robust Hybrid Intelligent Position/Force Control Scheme for Cooperative Manipulators

机译：协作机器人的鲁棒混合智能位置/力控制方案

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

We examine in this paper the complex problem of simultaneous position and internal force control in multiple cooperative manipulator systems. This is done in the presence of unwanted parametric and modeling uncertainties as well as external disturbances. A decentralized adaptive hybrid intelligent control scheme is proposed here. The controller makes use of a multi-input multi-output fuzzy logic engine and a systematic online adaptation mechanism. Unlike conventional adaptive controllers, the proposed controller does not require a precise dynamical model of the system's dynamics. As a matter of fact, the controller can achieve its control objectives starting from partial or no a priori knowledge of the system's dynamics. The ability to incorporate the already acquired knowledge about the system's dynamics is among what distinguishes the proposed controller from its predecessor adaptive fuzzy controllers. Using a Lyapunov stability approach, the controller is proven to be robust in the face of varying intensity levels of the aforementioned uncertainties. The position and the internal force errors are also shown to asymptotically converge to zero under such conditions.
机译：我们在本文中研究了多个协作机械手系统中同时位置控制和内力控制的复杂问题。这是在存在不必要的参数和建模不确定性以及外部干扰的情况下完成的。本文提出了一种分散式自适应混合智能控制方案。该控制器利用了多输入多输出模糊逻辑引擎和系统的在线自适应机制。与传统的自适应控制器不同，提出的控制器不需要系统动力学的精确动力学模型。实际上，控制器可以从对系统动力学的部分或没有先验知识开始实现其控制目标。结合已经获得的有关系统动力学知识的能力是所提出的控制器与之前的自适应模糊控制器的区别所在。使用李雅普诺夫稳定性方法，证明了该控制器在面对上述不确定性的变化强度水平时具有鲁棒性。在这种情况下，位置和内力误差也渐近收敛到零。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号