[PDF] Top 20 Fuzzy Disturbance Rejection Control of Two Link Robot Manipulator

... The universe of discourse for the position error is chosen to be [-250, 250] degree. The universe of discourse for the endpoint acceleration of the shoulder link is [-8, 8]g. The output universe of discourse of ... See full document

... Several control schemes were designed and implemented by different researchers, from different angle of view and reasoning, in order solves the problems stated ...using fuzzy logic and neural networks, for ... See full document

... The loading conditions relate to the manipulation of specific forces/torques that are prevalent (either deliberate or otherwise) in the robot system. These include all forms of external disturbances and payload ... See full document

... of two-link flexible manipulator control are exacerbated by the fact that control inputs as well as external disturbances induce flexural vibrations in the manipulator ...of ... See full document

... equivalent control law based on fuzzy-logic approach has been ...adaptive fuzzy controller is proposed to design a robust control law for trajectory tracking of a two-link ... See full document

... mode control deals with the problem of model uncertainties as these uncertainties can have strong adverse effects on nonlinear control ...adaptive control and another approaches which can be used to ... See full document

... to robot weight ...the manipulator becomes more flexible and more difficult to control accurately, since the manipulator is a distributed system, a large number of flexible modes are required ... See full document

... Many control techniques have been reported in literature for the vibration and deflection control in these systems, literature survey shows that most of the control technique developed for the ... See full document

... parameters. Two parameters are varied in discrete form from their nominal values; link mass and link ...and control signals resulting from LADRC and NLADRC, ...mass, two times nominal ... See full document

... the control system of an autonomous vehicle, and tried to present a controller for a basic model of such a ...simple fuzzy proportionalintegralderivative (PID) controller for the kinematic model of a ... See full document

... A solenoid comprising a coil or coils of electrical wire, a plug nut and movable core within the coil(s). A magnetic yoke surrounds the coil(s), the axis of the latter extending across the magnetic circuit defined by ... See full document

... for robot motion control in an unknown (indoor/outdoor) and in various environments ...(static/dynamic). Fuzzy logic control techniques are an important algorithm developed for robot ... See full document

... the two links, (11b, 11c) for a manipulator without any tip ...the two controllers as a two degree of freedom controller, yielded a system characterised by minimal motion-induced vibrations ... See full document

... of control rules and much effort to ...single-input Fuzzy Logic con- trollers (S-FLC) was proposed for the identification and control of complex dynamical systems ...of fuzzy rules is greatly ... See full document

... Supposed that the temperature outside is 0˚C, set point of the temperature of the zone is 20˚C, simulation modules are established in Matlab/Simulink environ- ment, include the traditional PID controller, ... See full document

... on link 1, link 2, and their performance indices are shown in ...respectively. Two cases are presented from the tuning of the gains to investigate their effect on performance ...PD/PID control ... See full document

... The two-loop active disturbance rejection control is proposed to complete the rapid and high-precision maneuvering for the space-inflatable tether net capture system; meanwhile the ... See full document

... meaningful control laws for repetitive processes where in the ILC application, for example, one such family of control laws is composed of (state or output based) feedback control action on the ... See full document

... the fuzzy torque con- troller is much ...the fuzzy controller, the error of the tracking curve measured by experiments increases significantly com- pared with that in the ...proposed fuzzy torque ... See full document

... to control the actual and practical two- link robot is studied in this ...the robot system, the design of such controllers for non-linear systems without use of optimization algorithms ... See full document