协调模糊控制机械手臂与致动器非线性和运动约束.pdfVIP

Information Sciences 296 (2015) 1–13 Contents lists available at ScienceDirect Information Sciences journal homepage: www.else /locate/ins Coordinated fuzzy control of robotic arms with actuator nonlinearities and motion constraints Zhi Liu a,⇑, Ci Chen a, Yun Zhang a, C.L. Philip Chen b a School of Automation, Guangdong University of Technology, Guangzhou, Guangdong, China b Faculty of Science and Technology, University of Macau, Macau a r t i c l e i n f o a b s t r a c t Article history: In this paper, a coordinated fuzzy control is developed for robotic arms with actuator hys- Received 26 July 2014 teresis and motion constraint. To accurately compensate the hysteresis phenomena from Received in revised form 20 October 2014 the electromechanical devices, the modeling of actuator hysteresis is first integrated into Accepted 27 October 2014 the dynamics of multiple arms system. Then, the adaptive control scheme is introduced Available online 5 November 2014 to reduce the harmful effects from unknown nonlinearities. Subsequently, the issue of the motion constraint is taken into account to facilitate the application in the condition Keywords: of potential collisions. Furthermore, the stability analysis is carried out to guarantees the Multiple arms motion and internal forces in the robotic arms converge to the desired values. Simulta- Motion/force Actuator hysteresis