FORCE OPTIMIZATION OF ROBOTIC CONTROL BASED ON FUZZY RULES AGAINST THE SATURATION OF ACTUATORS

摘要：

Aiming at the decreasing performance of robotic system under the constraints of actuators, this paper presents some passive fault tolerant robotic control strategies, which are based on the analysis of Lyapunov function. In this process,using the idea of high-gain feedback, the requirement of high-level outputs of the actuators is limited, and at the same time the convergent performance is optimized by a fuzzy-sets method from which the actuating fault tolerant control is realized in robotic manipulators. Simulations validate the effectiveness of the given controllers.

关键词： Force optimization Fault tolerant Actuator constraint Fuzzy-sets Robot

作者: HONG-RUI WANG JIN-ZHUANG XIAO FANG WANG

作者单位: College of Electric and Information Engineering, Hebei University, Baoding 071002, China Electric Engineering Institute, Yanshan University, Qinhuangdao 066004, China

会议类型: 国际会议

会议名称: 2006 International Conference on Machine Learning and Cybernetics(IEEE第五届机器学习与控制论坛)

会议地点: 大连

会议语种:英文

页码: 785-790

在线出版日期: 2006-08-13（万方平台首次上网日期，不代表论文的发表时间）