Fuzzy control system

Robot

Robotic arm

Adaptive control

Control (management)

Dynamics (music)

Literature

Convergence (economics)

Economics

Computer science

Acoustics

Classical mechanics

Robot control

Physics

Robot kinematics

Mathematics

Fuzzy logic

Mobile robot

Artificial intelligence

Kinematics

Economic growth

Dual (grammatical number)

Control theory (sociology)

IEEE Transactions on Fuzzy Systems

Due to strongly coupled nonlinearities of the grasped dual-arm robot and the internal forces generated by grasped objects, the dual-arm robot control with uncertain kinematics and dynamics raises a challenging problem. In this paper, an adaptive fuzzy control scheme is developed for a dual-arm robot, where an approximate Jacobian matrix is applied to address the uncertain kinematic control, while a decentralized fuzzy logic controller is constructed to compensate for uncertain dynamics of the robotic arms and the manipulated object. Also, a novel finite-time convergence parameter adaptation technique is developed for the estimation of kinematic parameters and fuzzy logic weights, such that the estimation can be guaranteed to converge to small neighborhoods around their ideal values in a finite time. Moreover, a partial persistent excitation property of the Gaussian-membership-based fuzzy basis function was established to relax the conventional persistent excitation condition. This enables a designer to reuse these learned weight values in the future without relearning. Extensive simulation studies have been carried out using a dual-arm robot to illustrate the effectiveness of the proposed approach.

Finite-Time Convergence Adaptive Fuzzy Control for Dual-Arm Robot With Unknown Kinematics and Dynamics