We propose an enhanced time-delay controller (TDC) for robot manipulators using Takagi-Sugeno-Kang (TSK) fuzzy controlsystems. The proposed controller has three terms: a time-delay estimation (TDE) term to estimate a...
详细信息
ISBN:
(纸本)9781509060009
We propose an enhanced time-delay controller (TDC) for robot manipulators using Takagi-Sugeno-Kang (TSK) fuzzy controlsystems. The proposed controller has three terms: a time-delay estimation (TDE) term to estimate and cancel continuous nonlinearities of robot dynamics, a desired dynamics injection term, and a TSK fuzzy inference system to correct the effect of the TDE error. The TSK-type fuzzy inference system is constructed by using integral sliding surface to achieve the desired error dynamics. The proposed controller is easy to implement because calculations of the robot dynamics are not required, and the design of the fuzzy rules is also intuitive. The proposed controller has shown enhanced tracking performances compared with the conventional TDC in the experiment.
The development of PMSM is inseparable from the continuous improvement of the performance-to-price ratio of permanent magnet materials and the development of power electronic equipment. This is exactly the study of PM...
详细信息
As the brush less DC motor is more and more widely used, relating control algorithm need more and more precise and intelligence. In this paper, after studying the fuzzy control and the neural network theory, a single ...
详细信息
Most research so far on task-space sensory feedback control of robot manipulators has assumed that the structure of kinematics or Jacobian matrix is known. As most industrial manipulators have closed architecture cont...
详细信息
ISBN:
(纸本)9781538618547
Most research so far on task-space sensory feedback control of robot manipulators has assumed that the structure of kinematics or Jacobian matrix is known. As most industrial manipulators have closed architecture controlsystems and do not come with external sensors such as cameras, the sensors have to be added and integrated to the robots according to different requirements and applications. Since different configurations and types of sensors result in different sensory transformation or Jacobian matrices and thus lead to different models, it is in general difficult for operators or users in factory to model the sensory systems and deploy the robots according to various applications. Besides, as the sensory or visual feedback is implemented as an outer control loop in addition to the inner joint servo loop of the industrial robots, the interactions with the inner control loop must be carefully considered to ensure the stability of the overall system. This paper proposes a vision based neural network Jacobian tracking controller for robot manipulators. The proposed controller can be implemented on robots with either closed or opened architecture, without having to model the cameras, and manipulators. The effect of inner control loop is considered so as to ensure the stability of the whole system. The stability is shown by using the Lyapunov-like method and experimental results are presented to illustrate the performance of proposed controller.
In order to solve the signal during transmission on the external mixture of noise, this paper presents the wavelet de-noising based on empirical mode decomposition (EMD), with Wu and others view that the previous orde...
详细信息
This paper studies the guaranteed cost control problem of networked controlsystems with stochastic protocols. The plant is equipped with multiple actuator nodes. The communication process between the controller and t...
详细信息
This paper describes a novel amphibious robot, which adopts a dual-swing-legs propulsion mechanism, proposing a new locomotion mode. The robot is called FroBot, since its structure and locomotion are similar to frogs....
详细信息
This paper descries the realization of emotional interaction for Thinking Robot (T-ROT), especially focus on speech emotion recognition. In the field of speech emotion recognition, most researchers work in a speaker d...
详细信息
Although several methods for economic justification of general information system and office automation system are well documented, research on the feasibility of using these methods in justifying intelligentsystems ...
详细信息
Coverage hole will bring about event detection lost or detection error and seriously damage the quality of monitoring in WSN. This paper propose an intelligent strategy called the improved hybrid particle swarm algori...
详细信息
Coverage hole will bring about event detection lost or detection error and seriously damage the quality of monitoring in WSN. This paper propose an intelligent strategy called the improved hybrid particle swarm algorithm (IHPSA) to repair coverage hole. In hybrid sensor network, this scheme considers the displacement of mobile sensors, energy consumption and energy balancing together, effectively schedules the redundant mobile sensors to repair coverage holes by moving to appropriate locations, then improves the event detection rate. Simulation result shows that this moving algorithm brings better coverage function and higher capacity of event detection.
暂无评论