Abstract
Stability analysis for fuzzy control of robot manipulators has been a serious challenging problem in literature. The theoretical difficulties are highly increased due to the complexity of both manipulator dynamics and fuzzy controller structure. This paper develops a novel robust fuzzy control approach for electrical robot manipulators using the direct method of Lyapunov. We pass analytical difficulties by the use of voltage control strategy in replace of torque control strategy. Then, a normalized and decentralized Takagi–Sugeno fuzzy controller is presented in a simple structure. A simple Lyapunov candidate is proposed to apply stability analysis without knowing the explicit dynamics of system. Consequently, fuzzy control is analyzed and designed as a robust nonlinear control. Roles of scaling factors, gains in consequent parts, and membership functions in condition parts are considered in the control design. The proposed control approach is applied on a Puma560 robot arm.
Similar content being viewed by others
References
Spong, M.W., Hutchinson, S., Vidyasagar, M.: Robot Modeling and Control. Wiley, Hoboken (2006)
Hodges, S.E.: Looking for a cheaper robot: visual feedback for automated PCB manufacture. Ph.D. thesis in University of Cambridge (1996)
Qu, Z., Dawson, D.M.: Robust Tracking Control of Robot Manipulators. IEEE, New York (1996)
Abdallah, C., Dawson, D., Dorato, P., Jamshidi, M.: Survey of robust control for rigid roots. Control Syst. Mag. 11, 24–30 (1991)
Cheah, C.C., Hirano, M., Kawamura, S., Arimoto, S.: Approximate Jacobian control for robots with uncertain kinematics and dynamics. IEEE Trans. Robot. Autom. 19(4), 692–702 (2003)
Fateh, M.M., Soltanpour, M.R.: Robust task-space control of robot manipulators under imperfect transformation of control space. Int. J. Innov. Comput. Info. Control. 5(11A), 3949–3960 (2009)
Fateh, M.M.: Proper uncertainty bound parameter to robust control of electrical manipulators using nominal model. Nonlinear Dyn. (2010). doi:10.1007/s11071-010-9677-7
Fateh, M.M.: On the voltage-based control of robot manipulators. Int. J. Control. Autom. Syst. 6(5), 702–712 (2008)
Fateh, M.M.: Robust voltage control of electrical manipulators in task-space. Int. J. Innov. Comput. Info. Control. 6(6), 2691–2700 (2010)
Wang, L.X.: A Course in Fuzzy Systems and Control. Prentice Hall, New York (1996)
Lim, C.M., Hiyama, T.: Application of fuzzy logic control to a manipulator. IEEE Trans. Robot. Autom. 1(5), 688–691 (1991)
Ham, C., Qu, Z., Johnson, R.: Robust fuzzy control for robot manipulators. IEE Proc., Control Theory Appl. 147(2), 212–216 (2000)
Kim, E.: Output feedback tracking control of robot manipulator with model uncertainty via adaptive fuzzy logic. IEEE Trans. Fuzzy Syst. 12(3), 368–376 (2004)
Hwang, J.P., Kim, E.: Robust tracking control of an electrically driven robot: adaptive fuzzy logic approach. IEEE Trans. Fuzzy Syst. 14(2), 232–247 (2006)
Ying, H.: The Takagi–Sugeno fuzzy controllers using the simplified linear control rules are nonlinear variable gain controllers. Automatica 34(2), 157–167 (1998)
Tsay, D.L., Chung, H.Y., Lcc, C.J.: The adaptive control of nonlinear system using the Sugeno-type of fuzzy logic. IEEE Trans. Fuzzy Syst. 7(2), 225–229 (1999)
Tsai, C.H., Wang, C.H., Lin, W.S.: Robust fuzzy model-following control of robot manipulators. IEEE Trans. Fuzzy Syst. 8(4), 462–469 (2000)
Shen, Y., Cai, W.J., Li, S.: Multivariable process control: decentralized, decoupling, or sparse. Ind. Eng. Chem. Res. 49, 761–771 (2010)
Hsua, S.H., Fua, L.C.: A fully adaptive decentralized control of robot manipulators. Automatica 42, 1761–1767 (2006)
Jin, Y.: Decentralized adaptive fuzzy control of robot manipulators. IEEE Trans. Syst. Man Cybern., Part B, Cybern. 28(1), 47–57 (1998)
Kim, V.T.: Independent joint adaptive fuzzy control of robot manipulator. In: The 5th Biannual World Automation Congress, vol. 14, pp. 645–652 (2002)
Takagi, T., Sugeno, M.: Fuzzy identification of systems and its applications to modeling and control. IEEE Trans. Syst. Man. Cybern. 15, 116–132 (1985)
Ying, H.: Sufficient conditions on uniform approximation of multivariate functions by general Takagi–Sugeno fuzzy systems with linear rule consequent. IEEE Trans. Syst., Man. Cybernet. 28, 515–520 (1998)
Ying, H.: An analytical study on structure, stability and design of general Takagi–Sugeno fuzzy control systems. Automatica 34, 1617–1623 (1998)
Ding, Y., Ying, H., Shao, S.: Typical Takagi–Sugeno PI and PD fuzzy controllers: analytical structures and stability analysis. Inf. Sci. 151, 245–262 (2003)
Corke, P.I., Armstrong-Hlouvry, B.: A search for consensus among model parameters reported for the PUMA 560 robot. Proc. IEEE Int. Conf. Robot. Autom. 1, 1608–1613 (1994)
Wyeth, G.F., Kennedy, J., Lillywhite, J.: Distributed digital control of a robot arm. In: Proceedings of the Australian Conference on Robotics and Automation (ACRA 2000), pp. 217–222 (2000)
Corke, P.I.: Robotics toolbox for {MATLAB}. IEEE Robot. Autom. Mag. 3(1), 24–32 (1996)
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Fateh, M.M. Robust Fuzzy Control of Electrical Manipulators. J Intell Robot Syst 60, 415–434 (2010). https://doi.org/10.1007/s10846-010-9430-y
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10846-010-9430-y