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Dual-layer fuzzy control architecture for the CAS rover arm
Gao HW(高宏伟); Liu JG(刘金国); Li YM(李杨民); Hong, Kun; Zhang Y(张阳)
Department空间自动化技术研究室
Source PublicationInternational Journal of Control, Automation and Systems
ISSN1598-6446
2015
Volume13Issue:5Pages:1262-1271
Indexed BySCI ; EI
EI Accession number20152300902595
WOS IDWOS:000361756300023
Contribution Rank1
Funding OrganizationNational Science Foundationof China (51175494, 61128008), China Postdoctoral ScienceFoundation Funded Project (Grant No.2013M530954), theState Key Laboratory of Robotics Foundation (GrantNo.O8A120S, 2012017), Program for Liaoning Excellent Talentsin University (Grant No.LJQ2014021), Liaoning Province NaturalScience Fund Project(Grant No.2014020093), and Shenyang LigongUniversity Computer Application Key Discipline Foundation(Grant No.47710 04kfx09), Macao Science and TechnologyDevelopment Fund (108/ 2012/A3, 110/2013/A3), ResearchCommittee of University of Macau (MYRG203(Y1-L4)-FST11-LYM, MYRG183(Y1-L3)FST 11-LYM).
KeywordCas Rover Arm Force Control Fuzzy Impedance Fuzzy Pd
AbstractSince the conventional impedance control method for a rover arm is not suitable for unconstructed environment with uncertainties, a fuzzy inference method which improves the impedance model dynamically is introduced to realize high-precision control. The fuzzy PD control algorithm which applies to the joint control of a rover arm is analyzed in this paper. With the two level control algorithms, a novel dual-layer fuzzy control framework is proposed, which can enhance the control performance significantly. In order to verify the validity and reliability of the designed algorithms, the robotic arm of the CAS rover is considered as an experimental platform. Kinematics and dynamics models of robotic arm are derived at first. Moreover, the fuzzy inference mechanism and implementation process of impedance model parameters are illustrated. Extensive simulations and experimental results show that the control accuracy and the force control of the system have been significantly improved with the proposed dual-layer fuzzy control architecture.
Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectAutomation & Control Systems
WOS KeywordROBOTIC MANIPULATORS ; FORCE CONTROL ; UNCERTAINTIES ; EXPLORATION ; KINEMATICS
WOS Research AreaAutomation & Control Systems
Citation statistics
Cited Times:4[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/16186
Collection空间自动化技术研究室
Corresponding AuthorLiu JG(刘金国); Li YM(李杨民)
Affiliation1.School of Information Science & Engineering, Shenyang Ligong University, Shenyang, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
4.Department of Electromechanical Engineering, University of Macau, Avenida da Universidade, Taipa, Macao, China
Recommended Citation
GB/T 7714
Gao HW,Liu JG,Li YM,et al. Dual-layer fuzzy control architecture for the CAS rover arm[J]. International Journal of Control, Automation and Systems,2015,13(5):1262-1271.
APA Gao HW,Liu JG,Li YM,Hong, Kun,&Zhang Y.(2015).Dual-layer fuzzy control architecture for the CAS rover arm.International Journal of Control, Automation and Systems,13(5),1262-1271.
MLA Gao HW,et al."Dual-layer fuzzy control architecture for the CAS rover arm".International Journal of Control, Automation and Systems 13.5(2015):1262-1271.
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