https://scholars.lib.ntu.edu.tw/handle/123456789/316442
標題: | Nonlinear adaptive fuzzy control for hydraulic robots | 作者: | Chang, C.-F. Wang, S.-C. LI-CHEN FU |
關鍵字: | Adaptive fuzzy control; Dynamics model; Hydraulic; Robot; Stewart platform | 公開日期: | 2005 | 卷: | 16 | 起(迄)頁: | 541-546 | 來源出版物: | IFAC Proceedings Volumes (IFAC-PapersOnline) | 摘要: | In this paper, a novel adaptive fuzzy controller (AFC) is proposed to deal with the control problem of a parallel robot consisting of a Stewart platform and hydraulic actuators. Specifically, only two signals are measured from the robot system, namely, the leg displacements through Linear Variable Differential Transformer (LVDT) and the current change with Hall sensor. To cope with the difficulty of obtaining the full parametric model of the Stewart platform and that of the complete actuator dynamics, an adaptive fuzzy control method is then adopted. Simulations are done to compare the performance of the presented AFC and that of an appropriately designed adaptive controller. Apparently, the proposed control shows that the tracking errors of the present design are almost an order less than that of the otherwise designed adaptive controller. Copyright © 2005 IFAC. |
URI: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-79960746935&doi=10.3182%2f20050703-6-cz-1902.01360&partnerID=40&md5=335f944e016c54354610b5270708a58e | ISSN: | 14746670 | DOI: | 10.3182/20050703-6-cz-1902.01360 | SDG/關鍵字: | Controllers; Hall effect transducers; Hydraulic actuators; Hydraulics; Motion control; Robots; Actuator dynamics; Adaptive controllers; Adaptive fuzzy control; Adaptive fuzzy controller; Dynamics modeling; Linear variable differential transformer; Parametric modeling; Stewart platforms; Fuzzy control |
顯示於: | 資訊工程學系 |
在 IR 系統中的文件,除了特別指名其著作權條款之外,均受到著作權保護,並且保留所有的權利。