DocumentCode :
773493
Title :
A Robust Hybrid Intelligent Position/Force Control Scheme for Cooperative Manipulators
Author :
Gueaieb, Wail ; Karray, Fakhreddine ; Al-Sharhan, Salah
Author_Institution :
Sch. of Inf. Technol. & Eng., Ottawa Univ., Ont.
Volume :
12
Issue :
2
fYear :
2007
fDate :
4/1/2007 12:00:00 AM
Firstpage :
109
Lastpage :
125
Abstract :
We examine in this paper the complex problem of simultaneous position and internal force control in multiple cooperative manipulator systems. This is done in the presence of unwanted parametric and modeling uncertainties as well as external disturbances. A decentralized adaptive hybrid intelligent control scheme is proposed here. The controller makes use of a multi-input multi-output fuzzy logic engine and a systematic online adaptation mechanism. Unlike conventional adaptive controllers, the proposed controller does not require a precise dynamical model of the system´s dynamics. As a matter of fact, the controller can achieve its control objectives starting from partial or no a priori knowledge of the system´s dynamics. The ability to incorporate the already acquired knowledge about the system´s dynamics is among what distinguishes the proposed controller from its predecessor adaptive fuzzy controllers. Using a Lyapunov stability approach, the controller is proven to be robust in the face of varying intensity levels of the aforementioned uncertainties. The position and the internal force errors are also shown to asymptotically converge to zero under such conditions
Keywords :
Lyapunov methods; MIMO systems; adaptive control; decentralised control; force control; fuzzy control; intelligent control; manipulator dynamics; manipulator kinematics; multi-robot systems; position control; robust control; uncertain systems; Lyapunov stability; decentralized adaptive control; force control; modeling uncertainties; multi-input multi-output fuzzy logic engine; multiple cooperative manipulators; robust hybrid intelligent position control; Adaptive control; Control systems; Engines; Force control; Fuzzy control; Fuzzy logic; Intelligent control; Programmable control; Robust control; Uncertainty; Adaptive control; fuzzy control; multiple manipulators; robustness;
fLanguage :
English
Journal_Title :
Mechatronics, IEEE/ASME Transactions on
Publisher :
ieee
ISSN :
1083-4435
Type :
jour
DOI :
10.1109/TMECH.2007.892820
Filename :
4154704
Link To Document :
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