ADAPTIVE FUZZY CONTROL OF A MOBILE MANIPULATOR ROBOT

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FATEH M.M.; ABEDINZADEH SHAHRI M.

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Journal: JOURNAL OF SOLID AND FLUID MECHANICS Year:2015 | Volume:5 | Issue:2 Page(s): 17-27

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Title

ADAPTIVE FUZZY CONTROL OF A MOBILE MANIPULATOR ROBOT

Author(s)

FATEH M.M. | ABEDINZADEH SHAHRI M. | Issue Writer Certificate

Keywords

MOBILE MANIPULATOR ROBOTQ2

NONHOLONOMIC CONSTRAINTQ2

ADAPTIVE FUZZY CONTROLQ2

COMPENSATING THE APPROXIMATION ERRORQ2

ASYMPTOTIC CONVERGENCEQ2

Abstract

A MOBILE MANIPULATOR ROBOT is a complex system due to properties such as coupling between the manipulator and mobile chassis, holonomic and NONHOLONOMIC CONSTRAINTs, multivariable and nonlinear dynamics. The control of robot faces the external disturbance, parametric uncertainty and unmodeled dynamics. Therefore, the use of an adaptive fuzzy system is suggested for its capability in overcoming uncertainties and approximating of nonlinear functions based on the universal approximation theorem. However, the tracking error does not converge asymptotically to zero due to the approximation error of fuzzy system. This paper presents a novel ADAPTIVE FUZZY CONTROL for a MOBILE MANIPULATOR ROBOT. The novelty of paper is COMPENSATING THE APPROXIMATION ERROR of fuzzy system for ASYMPTOTIC CONVERGENCE in tracking the desired trajectory in the presence of uncertainties. For this purpose, the closed loop system in the error space converges to a linear system with poles having negative real parts. The control design consists of two parts; the kinematic control and dynamic control. Advantages of the proposed design are the simplicity and very good performance in tracking of the desired trajectory in the presence of uncertainties. The stability of control system and convergence to the desired trajectory are proven by the Lyapunov method. The simulation results show the superiority of the proposed control over a robust adaptive control.

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APA: Copy

FATEH, M.M., & ABEDINZADEH SHAHRI, M.. (2015). ADAPTIVE FUZZY CONTROL OF A MOBILE MANIPULATOR ROBOT. JOURNAL OF SOLID AND FLUID MECHANICS, 5(2), 17-27. SID. https://sid.ir/paper/212860/en

Vancouver: Copy

FATEH M.M., ABEDINZADEH SHAHRI M.. ADAPTIVE FUZZY CONTROL OF A MOBILE MANIPULATOR ROBOT. JOURNAL OF SOLID AND FLUID MECHANICS[Internet]. 2015;5(2):17-27. Available from: https://sid.ir/paper/212860/en

IEEE: Copy

M.M. FATEH, and M. ABEDINZADEH SHAHRI, “ADAPTIVE FUZZY CONTROL OF A MOBILE MANIPULATOR ROBOT,” JOURNAL OF SOLID AND FLUID MECHANICS, vol. 5, no. 2, pp. 17–27, 2015, [Online]. Available: https://sid.ir/paper/212860/en

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