[go: up one dir, main page]
More Web Proxy on the site http://driver.im/

Ren et al., 2015 - Google Patents

Design and implementation of model-free PID fuzzy logic control on a 4-bar parallel mechanism

Ren et al., 2015

View PDF
Document ID
5083627123265233332
Author
Ren Q
Bigras P
Publication year
Publication venue
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)

External Links

Snippet

This paper proposes a model-free PID fuzzy logic control for parallel robot. This kind control differs from conventional classical and modern control techniques, even existed intelligent controls. Nor precise description of dynamics model neither physical parameter is required …
Continue reading at www.researchgate.net (PDF) (other versions)

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
    • G05B13/027—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion using neural networks only
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06N—COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computer systems based on biological models
    • G06N3/02—Computer systems based on biological models using neural network models
    • G06N3/04—Architectures, e.g. interconnection topology
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06N—COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computer systems based on biological models
    • G06N3/02—Computer systems based on biological models using neural network models
    • G06N3/08—Learning methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06N—COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N99/00—Subject matter not provided for in other groups of this subclass
    • G06N99/005—Learning machines, i.e. computer in which a programme is changed according to experience gained by the machine itself during a complete run
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B17/00—Systems involving the use of models or simulators of said systems
    • G05B17/02—Systems involving the use of models or simulators of said systems electric
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06N—COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N5/00—Computer systems utilising knowledge based models
    • G06N5/04—Inference methods or devices

Similar Documents

Publication Publication Date Title
Bingül et al. A Fuzzy Logic Controller tuned with PSO for 2 DOF robot trajectory control
Elkhateeb et al. Novel PID tracking controller for 2DOF robotic manipulator system based on artificial bee colony algorithm
Bazregar et al. Parallel Soft Computing Control Optimization Algorithm for Uncertainty Dynamic Systems
Hassanzadeh et al. An interval-valued fuzzy controller for complex dynamical systems with application to a 3-PSP parallel robot
Petković et al. Retracted article: input displacement neuro-fuzzy control and object recognition by compliant multi-fingered passively adaptive robotic gripper
Heidari et al. Design new nonlinear controller with parallel fuzzy inference system compensator to control of continuum robot manipulator
Piltan et al. Design Artificial Intelligent Parallel Feedback Linearization of PID Control with Application to Continuum Robot
Rezaei-Shoshtari et al. Cascaded gaussian processes for data-efficient robot dynamics learning
Piltan et al. Design Artificial Intelligence-Based Switching PD plus Gravity for Highly Nonlinear Second Order System
Piltan et al. GDO Artificial Intelligence-Based Switching PID Baseline Feedback Linearization Method: Controlled PUMA Workspace
Shamsodini et al. Design Modified Fuzzy Hybrid Technique: Tuning By GDO
Elmogy et al. An adaptive fuzzy self-tuning inverse kinematics approach for robot manipulators
Soni et al. End-to-end reinforcement learning for torque based variable height hopping
Ren et al. Design and implementation of model-free PID fuzzy logic control on a 4-bar parallel mechanism
Chaudhary et al. Fuzzy PD+ I based hybrid force/position control of an industrial robot manipulator
Murooka et al. Simultaneous planning and estimation based on physics reasoning in robot manipulation
Jaiswal et al. Comparison between conventional pid and fuzzy pid supervisor for 3-dof scara type robot manipulator
Dinh et al. Localized Extreme Learning Machine for online inverse dynamic model estimation in soft wearable exoskeleton
Xu et al. A Fuzzy Inverse Model Construction Method for General Monotonic Multi-Input--Single-Output (MISO) Systems
Lakshmi An adaptive Neuro-Fuzzy control approach for motion control of a robot arm
Subasri et al. Model Identification of 3R Palnar Robot using Neural Network and Adaptive Neuro-Fuzzy Inference System
Ren et al. Discrete-time parallel robot motion control using adaptive neuro-fuzzy inference system based on improved subtractive clustering
Mutlu Robust Control With Fuzzy Based Neural Network For Robot Manipulators
Ren et al. Model-free adaptive neural fuzzy feed forward torque control for nonlinear parallel mechanism
Wu Joint Position Tracking Control of a Two-Link Planar Robot Arm Using Fuzzy Fractional Order Sliding-Mode Strategy