Title :
Control of Pendubot with Chaotic Perturbation
Author :
Awootsopa, Pongphut ; Sritheerawirojana, Uthai ; Sooraksa, Pitikhate ; Komine, Noriyuki
Author_Institution :
Dept. of Inf. Eng., King Mongkut´´s Inst. of Technol., Bangkok
Abstract :
This research aims to improve the performance of controlling a pendubot disturbed by chaotic perturbation. The perturbation is in the form of chaotic noises generating using a logistic map type. The control mechanism comprises of two fuzzy controllers working in parallel: one for the actuator located at the first link, the other is for the second one. The propose architecture is said to be robust in the sense that the system can cope with the injected chaotic perturbation proved by simulation results
Keywords :
actuators; chaos; fuzzy control; motion control; nonlinear control systems; robots; robust control; actuators; chaotic noises; chaotic perturbation; fuzzy controllers; logistic map type; pendubot control; Actuators; Chaos; Control systems; Equations; Fuzzy control; Fuzzy systems; Logistics; Noise generators; Robots; Torque;
Conference_Titel :
Industrial Electronics and Applications, 2006 1ST IEEE Conference on
Conference_Location :
Singapore
Print_ISBN :
0-7803-9513-1
Electronic_ISBN :
0-7803-9514-X
DOI :
10.1109/ICIEA.2006.257162
