DESIGN OF FUZZY CONTROL FOR UNCERTAIN UNDERACTUATED MECHANICAL SYSTEMS | ||
| The International Conference on Applied Mechanics and Mechanical Engineering | ||
| Article 71, Volume 18, 18th International Conference on Applied Mechanics and Mechanical Engineering., April 2018, Pages 1-13 PDF (291.09 K) | ||
| Document Type: Original Article | ||
| DOI: 10.21608/amme.2018.35017 | ||
| Author | ||
| M. M. Emarah | ||
| Lecturer, the High Institute of Engineering, City of Science and Culture, 6th of October City, Giza, Egypt. | ||
| Abstract | ||
| ABSTRACT This study presents a fuzzy control strategy of underactuated mechanical systems with parametric uncertainties. Underactuated mechanical systems have fewer control inputs than degrees of freedom and arise in applications, such as space and undersea robots, mobile robots, walking, brachiating, and gymnastic robots. The Lagrangian dynamics of these systems may contain feed forward non-linear ties, non-minimum phase zero dynamics, nonholonomic constraints, and other properties that place this class of systems at the forefront of research in nonlinear control. A complete understanding of the control of these systems is therefore lacking. First, this paper represents a brief introduction to the underactuated mechanical systems, the causes of their underactuation and parameters uncertain. Then it deals with the analysis and design of fuzzy controller for one of the application of uncertain underactuated mechanical systems; single flexible link robot. The parameters uncertainties of the flexible robot are presented as bounded variation in payload mass and rotational inertia of the link. | ||
| Keywords | ||
| Underactuated mechanical systems; Parametric uncertainties; Single flexible link robot; Fuzzy control | ||
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