A precise robust fuzzy control of robots using voltage control strategy

Authors:
Mohammad Mehdi Fateh;Sara Fateh
Affiliations:
Department of Electrical and Robotic Engineering, Shahrood University of Technology, Shahrood, Iran 3619995161;Department of Electrical and Robotic Engineering, Shahrood University of Technology, Shahrood, Iran 3619995161
Venue:
International Journal of Automation and Computing
Year:
2013

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Abstract

Fuzzy control of robot manipulators with a decentralized structure is facing a serious challenge. The state-space model of a robotic system including the robot manipulator and motors is in non-companion form, multivariable, highly nonlinear, and heavily coupled with a variable input gain matrix. Considering the problem, causes and solutions, we use voltage control strategy and convergence analysis to design a novel precise robust fuzzy control (PRFC) approach for electrically driven robot manipulators. The proposed fuzzy controller is Mamdani type and has a decentralized structure with guaranteed stability. In order to obtain a precise response, we regulate a fuzzy rule which governs the origin of the tracking space. The proposed design is verified by stability analysis. Simulations illustrate the superiority of the PRFC over a proprotional derivative like (PD-like) fuzzy controller applied on a selective compliant assembly robot arm (SCARA) driven by permanent magnet DC motors.