Reference : Robust Direct Adaptive Fuzzy Control of Switched Constrained Manipulators with Unknow...
Scientific congresses, symposiums and conference proceedings : Paper published in a book
Engineering, computing & technology : Electrical & electronics engineering
http://hdl.handle.net/10993/17022
Robust Direct Adaptive Fuzzy Control of Switched Constrained Manipulators with Unknown Dynamics
English
Jasim, Ibrahim mailto [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit >]
Plapper, Peter mailto [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit >]
2-Jun-2014
Joint 45th International Symposium on Robotics (ISR 2014) and 8th German Conference on Robotics (ROBOTIK 2014)
VDE
Yes
No
International
978-3-8007-3601-0
Joint 45th International Symposium on Robotics (ISR 2014) and 8th German Conference on Robotics (ROBOTIK 2014)
2-6-2014 to 3-6-2014
International Federation of Robotics (IFR) and German Society for Robotics (DGR)
Munich
Germany
[en] Fuzzy Control ; Robust Adaptive Control ; Switched Constrained Robots
[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.
R-AGR-0071 > PROBE > 01/01/2013 - 31/12/2015 > PLAPPER Peter
Researchers ; Professionals ; Students ; General public ; Others
http://hdl.handle.net/10993/17022
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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