Fuzzy adaptive state-feedback control for a revolute-prismatic-revolute robot manipulator

In this work, a fuzzy adaptive state-feedback control is designed for the stabilization of a three-degree of freedom revolute-prismatic-revolute (RPR) robot manipulator. At first, the forward kinematic equations are derived and its workspace is investigated. The Lagrange method is applied to find th...

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Autores principales:	N. Nejadkourki, M. J. Mahmoodabadi
Formato:	article
Lenguaje:	EN
Publicado:	Taylor & Francis Group 2019
Materias:	state-feedback control adaptive control fuzzy system manipulator workspace dynamical equations Engineering (General). Civil engineering (General) TA1-2040
Acceso en línea:	https://doaj.org/article/f163aea4219244579f16f72b5fb56e64
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id	oai:doaj.org-article:f163aea4219244579f16f72b5fb56e64
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spelling	oai:doaj.org-article:f163aea4219244579f16f72b5fb56e642021-11-04T15:51:57ZFuzzy adaptive state-feedback control for a revolute-prismatic-revolute robot manipulator2331-191610.1080/23311916.2019.1698690https://doaj.org/article/f163aea4219244579f16f72b5fb56e642019-01-01T00:00:00Zhttp://dx.doi.org/10.1080/23311916.2019.1698690https://doaj.org/toc/2331-1916In this work, a fuzzy adaptive state-feedback control is designed for the stabilization of a three-degree of freedom revolute-prismatic-revolute (RPR) robot manipulator. At first, the forward kinematic equations are derived and its workspace is investigated. The Lagrange method is applied to find the dynamical equations, and the inverse dynamic approach is utilized to design a state-feedback controller for the regulation of the joint positions. The gradient descent scheme and the sliding surface relations are implemented to adaptively define the control gains. Moreover, a fuzzy system based on the linguistic if-then rules is used to tune the control parameters. The time responses of the joint variables for the introduced scenario are simulated and compared with those of other recently published methods.N. NejadkourkiM. J. MahmoodabadiTaylor & Francis Grouparticlestate-feedback controladaptive controlfuzzy systemmanipulatorworkspacedynamical equationsEngineering (General). Civil engineering (General)TA1-2040ENCogent Engineering, Vol 6, Iss 1 (2019)
institution	DOAJ
collection	DOAJ
language	EN
topic	state-feedback control adaptive control fuzzy system manipulator workspace dynamical equations Engineering (General). Civil engineering (General) TA1-2040
spellingShingle	state-feedback control adaptive control fuzzy system manipulator workspace dynamical equations Engineering (General). Civil engineering (General) TA1-2040 N. Nejadkourki M. J. Mahmoodabadi Fuzzy adaptive state-feedback control for a revolute-prismatic-revolute robot manipulator
description	In this work, a fuzzy adaptive state-feedback control is designed for the stabilization of a three-degree of freedom revolute-prismatic-revolute (RPR) robot manipulator. At first, the forward kinematic equations are derived and its workspace is investigated. The Lagrange method is applied to find the dynamical equations, and the inverse dynamic approach is utilized to design a state-feedback controller for the regulation of the joint positions. The gradient descent scheme and the sliding surface relations are implemented to adaptively define the control gains. Moreover, a fuzzy system based on the linguistic if-then rules is used to tune the control parameters. The time responses of the joint variables for the introduced scenario are simulated and compared with those of other recently published methods.
format	article
author	N. Nejadkourki M. J. Mahmoodabadi
author_facet	N. Nejadkourki M. J. Mahmoodabadi
author_sort	N. Nejadkourki
title	Fuzzy adaptive state-feedback control for a revolute-prismatic-revolute robot manipulator
title_short	Fuzzy adaptive state-feedback control for a revolute-prismatic-revolute robot manipulator
title_full	Fuzzy adaptive state-feedback control for a revolute-prismatic-revolute robot manipulator
title_fullStr	Fuzzy adaptive state-feedback control for a revolute-prismatic-revolute robot manipulator
title_full_unstemmed	Fuzzy adaptive state-feedback control for a revolute-prismatic-revolute robot manipulator
title_sort	fuzzy adaptive state-feedback control for a revolute-prismatic-revolute robot manipulator
publisher	Taylor & Francis Group
publishDate	2019
url	https://doaj.org/article/f163aea4219244579f16f72b5fb56e64
work_keys_str_mv	AT nnejadkourki fuzzyadaptivestatefeedbackcontrolforarevoluteprismaticrevoluterobotmanipulator AT mjmahmoodabadi fuzzyadaptivestatefeedbackcontrolforarevoluteprismaticrevoluterobotmanipulator
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Fuzzy adaptive state-feedback control for a revolute-prismatic-revolute robot manipulator

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