Title: Direct Fuzzy Adaptive Control of a Manipulator with Elastic Joints
Abstract: No AccessEngineering NoteDirect Fuzzy Adaptive Control of a Manipulator with Elastic JointsSteve Ulrich and Jurek Z. SasiadekSteve UlrichDepartment of Mechanical and Aerospace Engineering, Carleton University, Ottawa, Ontario K1S 5B6, Canada*Ph.D. Candidate, Department of Mechanical and Aerospace Engineering, 1125 Colonel By Drive. Member AIAA.Search for more papers by this author and Jurek Z. SasiadekDepartment of Mechanical and Aerospace Engineering, Carleton University, Ottawa, Ontario K1S 5B6, Canada†Professor, Department of Mechanical and Aerospace Engineering, 1125 Colonel By Drive. Associate Fellow AIAA.Search for more papers by this authorPublished Online:30 Jan 2013https://doi.org/10.2514/1.57585SectionsRead Now ToolsAdd to favoritesDownload citationTrack citations About References [1] Khorasani K., “Nonlinear Feedback Control of Flexible Joint Manipulators: A Single Link Case Study,” IEEE Transactions on Automatic Control, Vol. 35, No. 10, 1990, pp. 1145–1149. doi: https://doi.org/10.1109/9.58558 IETAA9 0018-9286 CrossrefGoogle Scholar[2] Palli G., Melchiorri C. and De Luca A., “On the Feedback Linearization of Robots with Variable Joint Stiffness,” IEEE International Conference on Robotics and Automation, Inst. of Electrical and Electronics Engineersy, Piscataway, NJ, May 2008, pp. 1753–1759. Google Scholar[3] Egardt B., Stability of Adaptive Controllers, Springler–Verlag, Berlin, 1979, pp. 1–8. CrossrefGoogle Scholar[4] Cao Y. and de Silva C. W., “Dynamic Modeling and Neural-Network Adaptive Control of a Deployable Manipulator System,” Journal of Guidance, Control, and Dynamics, Vol. 29, No. 1, 2006, pp. 192–194. doi: https://doi.org/10.2514/1.11032 JGCDDT 0162-3192 LinkGoogle Scholar[5] Kaufman H., Barkana I. and Sobel K., Direct Adaptive Control Algorithms: Theory and Applications, 2nd ed., Communications and Control Engineering Series, Springer, New York, 1997, pp. 5–12. Google Scholar[6] Ulrich S., Sasiadek J. Z. and Barkana I., “Modeling and Direct Adaptive Control of a Flexible-Joint Manipulator,” Journal of Guidance, Control, and Dynamics, Vol. 35, No. 1, 2012, pp. 25–39. doi: https://doi.org/10.2514/1.54083 JGCDDT 0162-3192 LinkGoogle Scholar[7] Goulet J. F., de Silva C. W., Modi V. J. and Misra A. K., “Hierarchical Control of a Space-Based Deployable Manipulator Using Fuzzy Logic,” Journal of Guidance, Control, and Dynamics, Vol. 24, No. 2, 2001, pp. 395–405. doi: https://doi.org/10.2514/2.4724 JGCDDT 0162-3192 LinkGoogle Scholar[8] Ahmad M. A., Raja Ismail R. M. T., Ramli M. S., Zawawi M. A., Hambali N. and Abd Ghani N. M., “Vibration Control of Flexible Joint Manipulator using Input Shaping with PD-type Fuzzy Logic Control,” IEEE International Symposium on Industrial Electronics, Inst. of Electrical and Electronics Engineers, Piscataway, NJ, Oct. 2009, pp. 1184–1189. Google Scholar[9] Park C.-W. and Cho Y. W., “Adaptive Tracking Control of Flexible Joint Manipulator Based on Fuzzy Model Reference Approach,” IEEE Proceedings-Control Theory and Applications, Vol. 150, No. 2, 2003, pp. 198–204. doi: https://doi.org/10.1049/ip-cta:20030017 ICTAEX 1350-2379 CrossrefGoogle Scholar[10] Weiming T., Guanrong C. and Rongde L., “A Modified Fuzzy PI Controller for a Flexible-Joint Robot Arm with Uncertainties,” Fuzzy Sets and Systems, Vol. 118, No. 1, 2001, pp. 109–119. doi: https://doi.org/10.1016/S0165-0114(98)00360-1 FSSYD8 0165-0114 CrossrefGoogle Scholar[11] Spong M. W., “Modeling and Control of Elastic Joint Robots,” Journal of Dynamic Systems, Measurement and Control, Vol. 109, No. 4, 1987, pp. 310–319. doi: https://doi.org/10.1115/1.3143860 JDSMAA 0022-0434 CrossrefGoogle Scholar[12] Spong M. W., Hutchinson S. and Vidyasagar M., Robot Modeling and Control, Wiley, New York, 2006, p. 85. Google Scholar[13] Ott C., Cartesian Impedance Control of Redundant and Flexible-Joint Robots, Springer Tracts in Advanced Robotics, Vol. 49, Springer–Verlag, Berlin, 2008, pp. 71–72. Google Scholar[14] Khalil H. K., Nonlinear Systems, 2nd ed., Prentice–Hall, Upper Saddle River, NJ, 1996, pp. 423–459. Google Scholar[15] Green A. and Sasiadek J. Z., “Adaptive Control of a Flexible Robot Using Fuzzy Logic,” Journal of Guidance, Control, and Dynamics, Vol. 28, No. 1, 2005, pp. 36–42. doi: https://doi.org/10.2514/1.6376 JGCDDT 0162-3192 LinkGoogle Scholar[16] Passino K. M. and Yurkovich S., Fuzzy Control, Addison–Wesley, Menlo Park, CA, 1998, pp. 63–64, 77–78. Google Scholar[17] Banerjee A. K. and Singhose W., “Command Shaping in Tracking Control of a Two-Link Flexible Robot,” Journal of Guidance, Control, and Dynamics, Vol. 21, No. 6, 1998, pp. 1012–1015. doi: https://doi.org/10.2514/2.4343 JGCDDT 0162-3192 LinkGoogle Scholar[18] Tomei P., “A Simple PD Controller for Robots with Elastic Joints,” IEEE Transactions on Automatic Control, Vol. 36, No. 10, 1997, pp. 1208–1213. doi: https://doi.org/10.1109/9.90238 IETAA9 0018-9286 CrossrefGoogle Scholar[19] Spong M. W., “Adaptive Control of Flexible Joint Manipulators: Comments on Two Papers,” Automatica, Vol. 31, No. 4, 1995, pp. 585–590. doi: https://doi.org/10.1016/0005-1098(95)98487-Q ATCAA9 0005-1098 CrossrefGoogle Scholar[20] Ulrich S. and Sasiadek J. Z., “Control Strategies for Flexible Joint Manipulators,” AIAA Guidance, Navigation, and Control Conference, Portland, OR, Aug. 2011; also AIAA Paper 2011-6297. LinkGoogle Scholar Previous article Next article
Publication Year: 2012
Publication Date: 2012-12-11
Language: en
Type: article
Indexed In: ['crossref']
Access and Citation
Cited By Count: 12
AI Researcher Chatbot
Get quick answers to your questions about the article from our AI researcher chatbot