كنترل وقفي فازي بازوي ربات جهت حذف اثر نيروي اختلال خارجي با مدل محيطي نامعين

چكيده انگليسي :

Adaptive Fuzzy Control of Robot Manipulators for Rejecting External Force Disturbance with Unknown Environment Model Moein Movahhed m movahhed@me iut ac ir Date of Submission 2011 04 26 Department of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree M Sc Language Farsi Supervisor Mostafa Ghayour ghayour@cc iut ac ir Mohammad Danesh danesh@cc iut ac ir AbstractRobot manipulators are multipurpose machines and the range of their applications is extremely large Theyhave been playing very important role in manufacturing industries and many environments like deepundersea exploration etc On the way of proposing a control strategy for manipulators tracking problems rejecting the effect ofexternal disturbances or estimating them always is a one of the complexities This complexity going harderwhen mounting force torque sensor complicates the robot structure Furthermore using them in hightemperature and large noise environments are not possible and in many cases it is not possible or economical Practically in many situations unknown force torque disturbances are completely nonlinear and depend onthe physical attributes of the environment In recently researches fuzzy logic approach neural networktechnique and sliding mode control makes much attention due to their capability and nonlinearity Thenonlinearity and universal approximation property of fuzzy scheme have made it ideal tool to handle thesesituations However the knowledge about the system s property plays a very important role in fuzzy schemeand in many cases this knowledge is so poor or even doesn t exist Combining fuzzy control with othereffective theories like robust and adaptive schemes could make it independent of the control designer sknowledge In this dissertation two novel schemes are developed by combination of adaptive method section4 and robust adaptive method section5 with fuzzy algorithm for tracking problems to guaranteeuniform stability of the whole system Adaptive fuzzy control AFC approach is developed in the presenceof parametric uncertainties and unknown external disturbances In robust adaptive fuzzy RAFC approachthe effect of unmodelled dynamics also added It is assumed that every external disturbance is the directeffect of environmental properties In fact it is resulted by the reaction between environment and manipulatormotion These disturbances can be modeled as nonlinear functions of robot links positions and velocities Thefuzzy part with a set of tunable parameters is used to approximate and reject the effects of externaldisturbances Two adaption laws are introduced to estimate unknown parameters and determine an upperbound of unmodelled dynamics friction and any kind of miserable noises A Lyapunov based proof ispresented to guarantee uniform stability of the proposed RAFC system The simulation results show theexcellent control performance of the proposed approach to tracking the desired trajectory and its capability toreject the effect of unknown force torque disturbances and unmodelled dynamics The robustness of thesystem has been ensured by removing the effect of unmodelled dynamics and estimation error of the idealfuzzy parameters with finding an upper bound of them The proposed AFC and RAFC controls have usedfuzzy scheme based on nonlinearity properties to model the external disturbances The dynamic fuzzyparameters have made fuzzy estimator powerful to reject the effect of unknown environmental forces ortorques To avoid chattering problems the control laws have been modified without losing any stabilityconditions It has been also proved that the tracking errors are converge to zero as time goes to infinity estimations are always staying bounded and uniform stability is independence of initial values One of thegreet advantage of the proposed algorithms is that the control designer has no problem to construct the fuzzyrule base because the rules are self constructive Finally as shown in simulations the novel AFC and

موحد، معين

كنترل وقفي فازي بازوي ربات جهت حذف اثر نيروي اختلال خارجي با مدل محيطي نامعين

كنترل مقاوم , تعقيب مسير , پايداري لياپانوف , حذف اختلال نيرويي