Abstract
This paper develops a novel interval type-2 fuzzy Proportional-Derivative (PD) control scheme for electrically driven flexible-joint robots using the direct method of Lyapunov. The controller has a simple design in a decentralized structure. Compared to the previous controllers reported for the flexible-joint robots which use two control loops, it has a simpler structure using only one control loop. It guarantees stability and provides a good tracking performance. The controller considers the whole robotic system including the manipulator and motors by applying the voltage control strategy. Stability analysis is presented and the effectiveness of the proposed control approach is demonstrated by simulations using a three link flexible-joint robot driven by permanent magnet DC motors. Simulation results show that the interval type-2 fuzzy PD controller can handle external disturbance better than the type-1 fuzzy PD controller. In addition, it spends less control effort than the type-1 in order to deal with disturbance.
Highlights
Fuzzy control as a model-free approach is designed to control complicated systems
This paper develops a novel interval type-2 fuzzy Proportional-Derivative (PD) control scheme for electrically driven flexible-joint robots using the direct method of Lyapunov
Compared to the previous controllers reported for the flexible-joint robots which use two control loops, it has a simpler structure using only one control loop
Summary
Fuzzy control as a model-free approach is designed to control complicated systems. As an example of torque control strategy [23], one can consider the complexity of the robust control of flexible-join robots In some papers such as [20] the actuator dynamics is considered. The control problem may become more complicated due to considering the actuator dynamics To solve these problems, voltage control strategy has been devoted to the electrically driven robot manipulators [24]. In [25], the set-point regulation control design for an electrically driven flexible-joint robot with model uncertainty was proposed. In [16], an adaptive controller was developed to solve the tracking problem for electrically driven flexible-joint robot with time-varying uncertainty. The contribution of this paper is to present an interval type-2 fuzzy PD (IT2PD) control approach for electrically driven flexible-joint robots.
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