Computer-based Regressor-free Adaptive Control versus Direct Adaptive Fuzzy Control of the Robotic System
الموضوعات :Mahmood Nadali 1 , Abolghasem Nadali 2 , Maryam Nadali 3
1 - Department of Power Electrical, College of Electrical, West Tehran Branch, Islamic Azad University, Tehran, Iran
2 - Department of Computer Engineering, Garmsar Branch, Islamic Azad University, Garmsar, Iran
3 - Master of Industrial Engineering, Signaling Department of Railway, Iran
الکلمات المفتاحية: Flexible-joint Robots, Voltage Control Strategy, Actuator Saturation, Direct Adaptive Fuzzy Control, Robust Adaptive Control,
ملخص المقالة :
A comprehensive comparison between regressor-free control and direct adaptive fuzzy control of flexible-joint robots is addressed in this paper. In the proposed regressor-free controller, two critical practical situations are considered: the fact that robot actuators have limited voltages, and limitation on the number of measurement devices. However, in the article "decentralized direct adaptive fuzzy control for flexible-joint robots," these limitations have been neglected. It should be noted that a few solutions for the voltage-bounded robust tracking control of flexible joint robots have been proposed. In this paper; we contribute to this subject by presenting a new form of voltage-based controllers. The closed-loop control system stability is proved, and uniformly boundedness of the joint position errors is guaranteed. As a second contribution of this paper, we present a robust adaptive control scheme without the need for computation of the regressor matrix with the same result on the closed-loop system stability. Experimental results of the proposed controller and the decentralized direct adaptive fuzzy controller are produced using MATLAB/SIMULINK external mode control on a single-link flexible-joint electrically driven robot. Experimental and analytical results demonstrate the high performance of the proposed control scheme.
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