Since the properties of flexible-joint robots such as nonlinearity, being time variable, coupling and high order, an accurate modelling of its dynamics is complicate. Therefore, model-free control methods are a suitable choise to control flexible-joint robots. In this paper, an indirect type-2 fuzzy control is presented for flexible-joint robots. The proposed scheme has the advantage that is computationally simple ، decoupled and free from manipulator dynamics. This advantage is for adopting voltage control strategy instead of common torque control strategy. The proposed method includes two interior loops: the inner loop controls the motor position using indirect type-2 fuzzy control while the outer loop controls the joint angle of the robot. To do this, an adaptive proportional-integral-derivative (PID) controller is used and by defining proper sliding condition using gradient descent there PID control gains are updated. Stability analysis is presented to verify the effectiveness of the proposed method. A three-joint articulated flexible-joint robot is simulated and simulation results show the superior of the indirect adaptive type-2 fuzzy system to nonlinear control method.
fateh, M. M., & aliyari, M. (2013). Indirect type-2 fuzzy control of flexible-joint robots. Journal of Solid and Fluid Mechanics, 2(2), 31-43. doi: 10.22044/jsfm.2013.135
MLA
mohammad mehdi fateh; mahdi aliyari. "Indirect type-2 fuzzy control of flexible-joint robots". Journal of Solid and Fluid Mechanics, 2, 2, 2013, 31-43. doi: 10.22044/jsfm.2013.135
HARVARD
fateh, M. M., aliyari, M. (2013). 'Indirect type-2 fuzzy control of flexible-joint robots', Journal of Solid and Fluid Mechanics, 2(2), pp. 31-43. doi: 10.22044/jsfm.2013.135
VANCOUVER
fateh, M. M., aliyari, M. Indirect type-2 fuzzy control of flexible-joint robots. Journal of Solid and Fluid Mechanics, 2013; 2(2): 31-43. doi: 10.22044/jsfm.2013.135
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