Reference : Robust Direct Adaptive Fuzzy Control of Switched Constrained Manipulators with Unknow...

	Document type :	Scientific congresses, symposiums and conference proceedings : Paper published in a book
	Discipline(s) :	Engineering, computing & technology : Electrical & electronics engineering
	To cite this reference:	http://hdl.handle.net/10993/17022

Title :	Robust Direct Adaptive Fuzzy Control of Switched Constrained Manipulators with Unknown Dynamics
Language :	English
Author, co-author :	Jasim, Ibrahim [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit >]
	Plapper, Peter [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit >]
Publication date :	2-Jun-2014
Main document title :	Joint 45th International Symposium on Robotics (ISR 2014) and 8th German Conference on Robotics (ROBOTIK 2014)
Publisher :	VDE
Peer reviewed :	Yes
On invitation :	No
Audience :	International
ISBN :	978-3-8007-3601-0
Event name :	Joint 45th International Symposium on Robotics (ISR 2014) and 8th German Conference on Robotics (ROBOTIK 2014)
Event date :	2-6-2014 to 3-6-2014
Event organizer :	International Federation of Robotics (IFR) and German Society for Robotics (DGR)
Event place (city) :	Munich
Event country :	Germany
Keywords :	[en] Fuzzy Control ; Robust Adaptive Control ; Switched Constrained Robots
Abstract :	[en] In this article, we address the problem of controlling robots with arbitrarily-switched constraints and unknown dynamics. Switching between different constraints of a robot would result in a switched nonlinear system that does not inherit the behavior of its individual subsystems. In order to guarantee stable performance of robots with arbitrarily switched constraints and unknown dynamics, we propose a Robust Adaptive Fuzzy Control (RAFC) strategy that can guarantee global stable performance under such challenging conditions. The suggested control strategy relies on the synergy of the Sliding Mode Control (SMC) that adds robustness against possible dynamics parameters drift, finding a Common Lyapunov Function (CLF) that guarantees stability under arbitrary constraints switching, and Direct Adaptive Fuzzy System (DAFS) that relaxes the need for knowing the precise robot dynamics. Experiments are performed on a KUKA Lightweight Robot (LWR) doing camshaft caps assembly of an automotive powertrain. The given robotic assembly process falls in the category of switched constrained robots and the efficiency of the suggested RAFC strategy in controlling such a robotic task will be shown.
Name of the research project :	R-AGR-0071 > PROBE > 01/01/2013 - 31/12/2015 > PLAPPER Peter
Target :	Researchers ; Professionals ; Students ; General public ; Others
Permalink :	http://hdl.handle.net/10993/17022
FnR project :	FnR ; FNR2955286 > Ibrahim Jasim > > Self-adaptive Fuzzy Control for Robotic Peg-in-Hole Assembly Process > 01/05/2012 > 30/04/2016 > 2012

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