International Journal of Computational Intelligence Systems

Volume 11, Issue 1, 2018, Pages 979 - 990

A model-reference impedance control of robot manipulators using an adaptive fuzzy uncertainty estimator

Authors
Gholamreza Nazmara1, Mohammad Mehdi Fateh1, Seyed Mohammad Ahmadi1, *
1Department of Electrical and robotic engineering, Shahrood University of Technology, Shahrood, Iran
1Department of Electrical and robotic engineering, Shahrood University of Technology, Shahrood, Iran
1Department of Electrical and robotic engineering, Shahrood University of Technology, Shahrood, Iran
*Corresponding author.
Corresponding Author
Seyed Mohammad Ahmadi
Received 12 January 2017, Accepted 18 April 2018, Available Online 3 May 2018.
DOI
https://doi.org/10.2991/ijcis.11.1.74How to use a DOI?
Keywords
model-reference; impedance control; electrically driven robot manipulators; fuzzy uncertainty estimator
Abstract

This paper aims at developing a voltage-based impedance model-reference controller using fuzzy uncertainty estimator for the robust control of electrically driven robot manipulators. The proposed control scheme not only utilizes a desired impedance as a reference model, but also provides the integrated control of position and force in the closed loop system. The robotic system receives the output of model-reference as a desired trajectory and thus the aim of the controller is to reduce the difference between the task-space desired trajectory and the desired impedance model. Furthermore, two control terms namely a robustifying term and a fuzzy uncertainty estimator are added in the structure of control design in order to improve the performance of the control system as well as to tackle uncertainty including un-modelled dynamics and external disturbances. Using stability analysis, we derive the adaptive mechanisms and also prove the boundedness of all system states. Finally, simulation results are included to verify the proposed control method.

Copyright
© 2018, the Authors. Published by Atlantis Press.
Open Access
This is an open access article under the CC BY-NC license (http://creativecommons.org/licences/by-nc/4.0/).

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Journal
International Journal of Computational Intelligence Systems
Volume-Issue
11 - 1
Pages
979 - 990
Publication Date
2018/05/03
ISSN (Online)
1875-6883
ISSN (Print)
1875-6891
DOI
https://doi.org/10.2991/ijcis.11.1.74How to use a DOI?
Copyright
© 2018, the Authors. Published by Atlantis Press.
Open Access
This is an open access article under the CC BY-NC license (http://creativecommons.org/licences/by-nc/4.0/).

Cite this article

TY  - JOUR
AU  - Gholamreza Nazmara
AU  - Mohammad Mehdi Fateh
AU  - Seyed Mohammad Ahmadi
PY  - 2018
DA  - 2018/05/03
TI  - A model-reference impedance control of robot manipulators using an adaptive fuzzy uncertainty estimator
JO  - International Journal of Computational Intelligence Systems
SP  - 979
EP  - 990
VL  - 11
IS  - 1
SN  - 1875-6883
UR  - https://doi.org/10.2991/ijcis.11.1.74
DO  - https://doi.org/10.2991/ijcis.11.1.74
ID  - Nazmara2018
ER  -