Fuzzy tracking controller for shape optimized robotic system

Author

Ciganek, Jan ; Noge, Filip ; Galik, Gabriel ; Gogola, Roman

Author_Institution

Fac. of Electr. Eng. & Inf. Technol., Slovak Univ. of Technol., Bratislava, Slovakia

fYear

2014

fDate

3-5 Sept. 2014

Firstpage

1

Lastpage

8

Abstract

The paper deals with an effective approach of the robust controller design, based on the fuzzy logic. We developed algorithms with variable sampling for trajectorytracking. The proposed controller design and sampling algorithms are verified on the case study of the chosen mechatronic system. All numerical and graphical results are obtained in Co-simulation of combination two different modeling systems - Matlab-Simulink and MSC Adams. The paper shows the methodology of energy cost reduction using shape optimized model based on the system analysis made in system ANSYS.

Keywords

control system synthesis; fuzzy control; mechatronics; robots; robust control; sampling methods; trajectory control; ANSYS; MSC Adams; Matlab-Simulink; co-simulation; energy cost reduction; fuzzy logic; fuzzy tracking controller; mechatronic system; robust controller design; shape optimized robotic system; trajectory tracking; variable sampling algorithm; Load modeling; MATLAB; Mathematical model; Robots; Shape; Solid modeling; Trajectory; Co-simulation; Control System; Fuzzy Logic; MSC Adams; Matlab-Simulink; Robotic System; Sampling Algorithm; Soft Computing; System Analysis; Trajectory Tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics in Alpe-Adria-Danube Region (RAAD), 2014 23rd International Conference on

Conference_Location

Smolenice

Print_ISBN

978-1-4799-6797-1

Type

conf

DOI

10.1109/RAAD.2014.7002239

Filename

7002239