Fuzzy control of robot manipulators with a decentralized structure is facing a serious challenge. The state-space model of a robotic system including the robot manipulator and motors is in non-companion form, multivar...Fuzzy control of robot manipulators with a decentralized structure is facing a serious challenge. The state-space model of a robotic system including the robot manipulator and motors is in non-companion form, multivariable, highly nonlinear, and heavily coupled with a variable input gain matrix. Considering the problem, causes and solutions, we use voltage control strategy and convergence analysis to design a novel precise robust fuzzy control （PRFC） approach for electrically driven robot manipulators. The proposed fuzzy controller is Mamdani type and has a decentralized structure with guaranteed stability. In order to obtain a precise response, we regulate a fuzzy rule which governs the origin of the tracking space. The proposed design is verified by stability analysis. Simulations illustrate the superiority of the PRFC over a proprotional derivative like （PD-like） fuzzy controller applied on a selective compliant assembly robot arm （SCARA） driven by permanent magnet DC motors.展开更多
ype-1 fuzzy sets cannot fully handle the uncertainties. To overcome the problem, type2 fuzzy sets have been proposed. The novelty of this paper is using interval type-2 fuzzy logic controller （IT2FLC） to control a f...ype-1 fuzzy sets cannot fully handle the uncertainties. To overcome the problem, type2 fuzzy sets have been proposed. The novelty of this paper is using interval type-2 fuzzy logic controller （IT2FLC） to control a flexible-joint robot with voltage control strategy. In order to take into account the whole robotic system including the dynamics of actuators and the robot manipulator, the voltages of motors are used as inputs of the system. To highlight the capabilities of the control system, a flexible joint robot which is highly nonlinear, heavily coupled and uncertain is used. In addition, to improve the control performance, the parameters of the primary membership functions of IT2FLC are optimized using particle swarm optimization （PSO）. A comparative study between the proposed IT2FLC and type-1 fuzzy logic controller （T1FLC） is presented to better assess their respective performance in presence of external disturbance and unmodelled dynamics. Stability analysis is presented and the effectiveness of the proposed control approach is demonstrated by simulations using a two-link flexible-joint robot driven by permanent magnet direct current motors. Simulation results show the superiority of the IT2FLC over the T1FLC in terms of accuracy, robustness and interpretability.展开更多
An improved automatic voltage coordination control strategy （AVCCS） based on ;automatic voltage control （AVC） and battery energy storage control （BESC） is proposed for photovoltaic grid-connected system （PVGS）...An improved automatic voltage coordination control strategy （AVCCS） based on ;automatic voltage control （AVC） and battery energy storage control （BESC） is proposed for photovoltaic grid-connected system （PVGS） to mitigate the voltage fluctuations caused by environmental disturbances. Only AVC is used when small environ- mental disturbances happen, while BESC is incorporated with AVC to restrain the voltage fluctuations when large disturbances happen. An adjustable parameter determining the allowed amplitudes of voltage fluctuations is introduced to realize the above switching process. A benchmark low voltage distribution system including ]？VGS is established by using the commercial software Dig SILENT. Simulation results show that the voltage under AVCCS satisfies the IEEE Standard 1547, and the installed battery capacity is also reduced. Meanwhile, the battery＇s service life is ex- tended by avoiding frequent charges/discharges in the control process.展开更多
文摘Fuzzy control of robot manipulators with a decentralized structure is facing a serious challenge. The state-space model of a robotic system including the robot manipulator and motors is in non-companion form, multivariable, highly nonlinear, and heavily coupled with a variable input gain matrix. Considering the problem, causes and solutions, we use voltage control strategy and convergence analysis to design a novel precise robust fuzzy control （PRFC） approach for electrically driven robot manipulators. The proposed fuzzy controller is Mamdani type and has a decentralized structure with guaranteed stability. In order to obtain a precise response, we regulate a fuzzy rule which governs the origin of the tracking space. The proposed design is verified by stability analysis. Simulations illustrate the superiority of the PRFC over a proprotional derivative like （PD-like） fuzzy controller applied on a selective compliant assembly robot arm （SCARA） driven by permanent magnet DC motors.
文摘ype-1 fuzzy sets cannot fully handle the uncertainties. To overcome the problem, type2 fuzzy sets have been proposed. The novelty of this paper is using interval type-2 fuzzy logic controller （IT2FLC） to control a flexible-joint robot with voltage control strategy. In order to take into account the whole robotic system including the dynamics of actuators and the robot manipulator, the voltages of motors are used as inputs of the system. To highlight the capabilities of the control system, a flexible joint robot which is highly nonlinear, heavily coupled and uncertain is used. In addition, to improve the control performance, the parameters of the primary membership functions of IT2FLC are optimized using particle swarm optimization （PSO）. A comparative study between the proposed IT2FLC and type-1 fuzzy logic controller （T1FLC） is presented to better assess their respective performance in presence of external disturbance and unmodelled dynamics. Stability analysis is presented and the effectiveness of the proposed control approach is demonstrated by simulations using a two-link flexible-joint robot driven by permanent magnet direct current motors. Simulation results show the superiority of the IT2FLC over the T1FLC in terms of accuracy, robustness and interpretability.
基金Supported by National Basic Research Program of China ("973" Program,No. 2009CB219701 and No. 2010CB234608)Tianjin Municipal Science and Technology Development Program (No. 09JCZDJC25000)Specialized Research Fund for Doctor Discipline of Ministry of Education of China (No. 20090032110064)
文摘An improved automatic voltage coordination control strategy （AVCCS） based on ;automatic voltage control （AVC） and battery energy storage control （BESC） is proposed for photovoltaic grid-connected system （PVGS） to mitigate the voltage fluctuations caused by environmental disturbances. Only AVC is used when small environ- mental disturbances happen, while BESC is incorporated with AVC to restrain the voltage fluctuations when large disturbances happen. An adjustable parameter determining the allowed amplitudes of voltage fluctuations is introduced to realize the above switching process. A benchmark low voltage distribution system including ]？VGS is established by using the commercial software Dig SILENT. Simulation results show that the voltage under AVCCS satisfies the IEEE Standard 1547, and the installed battery capacity is also reduced. Meanwhile, the battery＇s service life is ex- tended by avoiding frequent charges/discharges in the control process.
