International Journal of Information Engineering and Electronic Business(IJIEEB)
ISSN: 2074-9023 (Print), ISSN: 2074-9031 (Online)
Published By: MECS Press
IJIEEB Vol.5, No.1, May. 2013
A Design High Impact Lyapunov Fuzzy PD-Plus-Gravity Controller with Application to Rigid Manipulator
Full Text (PDF, 425KB), PP.17-25
The control problem for manipulators is to determine the joint inputs required to case the end-effector execute the commanded motion. The nonminimum phase characteristic of a rigid manipulator makes the design of stable controller that ensure stringent tracking requirements a highly nontrivial and challenging problem. A useful controller in the computed torque family is the PD-plus-gravity controller. Methodology. To compensate the dynamic parameters, fuzzy logic methodology is used and applied parallel to this method. when the arm is at rest, the only nonzero terms in the dynamic is the gravity. Proposed method can cancels the effects of the terms of gravity. In this case inorder to decrease the error and satteling time, higher gain controller is design and applied to nonlinear system.
Cite This Paper
Farzin Piltan,Mohammad Javad Rafaati,Fatima Khazaeni,Ali Hosainpour,Samira Soltani,"A Design High Impact Lyapunov Fuzzy PD-Plus-Gravity Controller with Application to Rigid Manipulator", IJIEEB, vol.5, no.1, pp.17-25, 2013. DOI: 10.5815/ijieeb.2013.01.02
T. R. Kurfess, Robotics and automation handbook: CRC, 2005.
J. J. E. Slotine and W. Li, Applied nonlinear control vol. 461: Prentice hall Englewood Cliffs, NJ, 1991.
B. Siciliano and O. Khatib, Springer handbook of robotics: Springer-Verlag New York Inc, 2008.
F. T. Cheng, T. L. Hour, Y. Y. Sun and T. H. Chen, "Study and resolution of singularities for a 6-DOF PUMA manipulator," Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on, No. 2, vol. 27, pp. 332-343, 2002.
M. W. Spong and M. Vidyasagar, Robot dynamics and control: Wiley-India, 2009.
A. Vivas and V. Mosquera, "Predictive functional control of a PUMA robot," Conference Proceedings, 2005.
D. Nguyen-Tuong, M. Seeger and J. Peters, "Computed torque control with nonparametric regression models," IEEE conference proceeding, 2008, pp. 212-217.
Farzin Piltan, Reza Bayat, Saleh Mehrara, Javad Meigolinejad “GDO Artificial Intelligence-Based Switching PID Baseline Feedback Linearization Method: Controlled PUMA Workspace,” International Journal of Information Engineering and Electronic Business (IJIEEB), 4 (5):17-26, 2012.
Farzin Piltan, Bamdad Boroomand, Arman Jahed, Hossain Rezaie " Performance-Based Adaptive Gradient Descent Optimal Coefficient Fuzzy Sliding Mode Methodology". International Journal of Intelligent Systems and Applications (IJISA), 4 (11), 40-52, 2012.
Farzin Piltan, Nasri Sulaiman, M. H. Marhaban and R. Ramli, “Design On-Line Tunable Gain Artificial Nonlinear Controller,” Journal of Advances In Computer Research, 2 (4): 75-83, 2011.
Farzin Piltan, N. Sulaiman, A. Jalali & F. Danesh Narouei, “Design of Model Free Adaptive Fuzzy Computed Torque Controller: Applied to Nonlinear Second Order System,” International Journal of Robotics and Automation, 2 (4):232-244, 2011.
Farzin Piltan, N. Sulaiman, Payman Ferdosali, Mehdi Rashidi, Zahra Tajpeikar, “Adaptive MIMO Fuzzy Compensate Fuzzy Sliding Mode Algorithm: Applied to Second Order Nonlinear System,” International Journal of Engineering, 5 (5): 380-398, 2011.
Farzin Piltan, SH. Tayebi HAGHIGHI, N. Sulaiman, Iman Nazari, Sobhan Siamak, “Artificial Control of PUMA Robot Manipulator: A-Review of Fuzzy Inference Engine And Application to Classical Controller ,” International Journal of Robotics and Automation, 2 (5):401-425, 2011.
Samira Soltani & Farzin Piltan, “Design Artificial Nonlinear Controller Based on Computed Torque like Controller with Tunable Gain”. World Applied Science Journal,14 (9): 1306-1312, 2011.
Farzin Piltan, M. Keshavarz, A. Badri, A. Zargari , ”Design novel nonlinear controller applied to robot manipulator: design new feedback linearization fuzzy controller with minimum rule base tuning method” International Journal of Robotics and Automation, 3(1): 1-18, 2012.
 Farzin Piltan , M.H. Yarmahmoudi, M. Shamsodini, E.Mazlomian, A.Hosainpour. ” PUMA-560 Robot Manipulator Position Computed Torque Control Methods Using MATLAB/SIMULINK and Their Integration into Graduate Nonlinear Control and MATLAB Courses” International Journal of Robotics and Automation, 3(3): 2012.
Farzin Piltan, R. Bayat, F. Aghayari, B. Boroomand. “Design Error-Based Linear Model-Free Evaluation Performance Computed Torque Controller” International Journal of Robotics and Automation, 3(3): 2012.