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| 1 | A Precise Robust Fuzzy Control of Robots Using Voltage Control Strategy显示文摘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. | Mohammad Mehdi Fateh Sara Fateh | 2013 | International Journal of Automation and computing2013，10，1： | 6 |
| 2 | Type-2 Fuzzy Control for a Flexible-joint Robot Using Voltage Control Strategy显示文摘Type-1 fuzzy sets cannot fully handle the uncertainties. To overcome the problem, type-2 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. | Majid Moradi Zirkohi Mohammad Mehdi Fateh Mahdi Aliyari Shoorehdeli | 2013 | International Journal of Automation and computing2013，10，3： | 5 |
| 3 | Modeling and Robust Discrete LQ Repetitive Control of Electrically Driven Robots显示文摘Discrete linear quadratic control has been efciently applied to linear systems as an optimal control.However,a robotic system is highly nonlinear,heavily coupled and uncertain.To overcome the problem,the robotic system can be modeled as a linear discrete-time time-varying system in performing repetitive tasks.This modeling motivates us to develop an optimal repetitive control.The contribution of this paper is twofold.For the frst time,it presents discrete linear quadratic repetitive control for electrically driven robots using the mentioned model.The proposed control approach is based on the voltage control strategy.Second,uncertainty is efectively compensated by employing a robust time-delay controller.The uncertainty can include parametric uncertainty,unmodeled dynamics and external disturbances.To highlight its ability in overcoming the uncertainty,the dynamic equation of an articulated robot is introduced and used for the simulation,modeling and control purposes.Stability analysis verifes the proposed control approach and simulation results show its efectiveness. | Mohammad Mehdi Fateh Maryam Baluchzadeh | 2013 | International Journal of Automation and computing2013，10，5： | 2 |
| 4 | Optimal Predictive Impedance Control in the Presence of Uncertainty for a Lower Limb Rehabilitation Robot显示文摘As an innovative concept,an optimal predictive impedance controlle is introduced here to control a lower limb rehabilitation robo in the presence of uncertainty.The desired impedance law is considered to propose a conventional model-based impedance controller for the LLRR.However,external disturbances,model imperfection,and parameters uncertainties reduce the performance of the controller in practice.In order to cope with these uncertainties,an optimal predictive compensator is introduced as a solution for a proposed convex optimization problem,which is performed on a forward finite-length horizon.As a result,the LLRR has the desired behavior even in an uncertain environment.The performance and efficiency of the proposed controller are verified by the simulation results. | JALAEIAN-F.Mohsen FATEH Mohammad Mehdi RAHIMIYAN Morteza | 2020 | Journal of Systems Science & Complexity2020，33，5： | 2 |
| 5 | Robust Control of Robotic Manipulators in the Task-Space Using an Adaptive Observer Based on Chebyshev Polynomials显示文摘In this paper,an adaptive observer for robust control of robotic manipulators is proposed.The lumped uncertainty is estimated using Chebyshev polynomials.Usually,the uncertainty upper bound is required in designing observer-controller structures.However,obtaining this bound is a challenging task.To solve this problem,many uncertainty estimation techniques have been proposed in the literature based on neuro-fuzzy systems.As an alternative,in this paper,Chebyshev polynomials have been applied to uncertainty estimation due to their simpler structure and less computational load.Based on strictly-positive-rea Lyapunov theory,the stability of the closed-loop system can be verified.The Chebyshev coefficients are tuned based on the adaptation rules obtained in the stability analysis.Also,to compensate the truncation error of the Chebyshev polynomials,a continuous robust control term is designed while in previous related works,usually a discontinuous term is used.An SCARA manipulator actuated by permanent magnet DC motors is used for computer simulations.Simulation results reveal the superiority of the designed method. | GHOLIPOUR Reza FATEH Mohammad Mehdi | 2020 | Journal of Systems Science & Complexity2020，33，5： | 1 |
| 6 | Nonlinear control of electrical flexible-joint robots显示文摘 | Mohammad Mehdi Fateh | 2012 | Nonlinear Dynamics2012，，4： | 1 |
| 7 | Guaranteed-stability adaptive fuzzy control of a hydraulic elevator显示文摘Purpose-A hydraulic elevator including the hydraulic actuator and cabin is highly nonlinear with many parameters and variables.Its state-space model is in non-companion form and uncertain due to the parametric errors,flexibility of the ropes,friction and external load disturbances.A model-based control cannot perform well while a precise model is not available and all state variables cannot be measured.To overcome the problems,this paper aims to develop a direct adaptive fuzzy control(DAFC)for the hydraulic elevator.Design/methodology/approach-The controller is an adaptive PD-like Mamdani type fuzzy controller using position error and velocity error as inputs.The design is based on the stability analysis.Findings-The proposed control can overcome uncertainties,guarantee stability,provide a good tracking performance and operate as active vibration suppression by tracking a smooth trajectory.The controller is not involved in the nonlinearity,uncertainty and vibration of the system due to being free from model.Its performance is superior to a PD-like fuzzy controller due to being adaptive as illustrated by simulations.Originality/value-The proposed DAFC is applied for the first time on the hydraulic elevator.Compared to classic adaptive fuzzy,it does not require all system states.In addition,it is not limited to the systems,which have the state-space model in companion form and constant input gain,thus is much less computational and easier to implement. | Mohammad Mehdi Fateh Mohaddeseh Amerian | 2013 | International Journal of Intelligent Computing and Cybernetics2013，6，3： | 0 |
| 8 | Discrete-time indirect adaptive fuzzy control for robot manipulators显示文摘Purpose–The purpose of this paper is to design a discrete indirect adaptive fuzzy controller for a robotic manipulator.This paper addresses how to overcome the approximation error of the fuzzy system and uncertainties for asymptotic tracking control of robotic manipulators.The uncertainties include parametric uncertainty,un-modeled dynamics,discretization error and external disturbances.Design/methodology/approach–The proposed controller is model-free and voltage-based in the form of discrete-time Mamdani fuzzy controller.The parameters of fuzzy controller are adaptively tuned for asymptotic tracking of a desired trajectory.A robust control term is used to compensate the approximation error of the fuzzy system.An adaptive mechanism is derived based on the stability analysis.Findings–The proposed model-free discrete control is robust against all uncertainties associated with the robot manipulator and actuators.The approximation error of the fuzzy system is well compensated to achieve asymptotic tracking of the desired trajectories.Stability analysis and simulation results show its efficiency in the tracking control.Originality/value–A novel discrete indirect adaptive fuzzy controller is designed for electrically driven robot manipulators using the voltage control strategy.The novelty of this paper is compensating the approximation error of the fuzzy system and discretizing error for asymptotic tracking of the desired trajectory. | Mohammad Mehdi Fateh Siamak Azargoshasb | 2014 | International Journal of Intelligent Computing and Cybernetics2014，7，4： | 0 |
| 9 | Voltage control strategy for an uncertain mobile robot显示文摘Purpose–The uncertainty and nonlinearity are the challenging problems for the control of a nonholonomic wheeled mobile robot.To overcome these problems,many valuable methods have been proposed by using two control loops namely the kinematic control and the torque control so far.In majority of the proposed approaches the dynamics of actuators is omitted for simplicity in the control design.This drawback degrades the control performance in high-velocity tracking control.On the other hand,to guarantee stability and overcome uncertainties,the control methods become computationally extensive and may be impractical due to using all states.The purpose of this paper is to design a simple controller with guaranteed stability for overcoming the nonlinearity,uncertainty and actuator dynamics.Design/methodology/approach–The control design includes two control loops,the kinematic control loop and the novel dynamic control loop.The dynamic control loop uses the voltage control strategy instead of the torque control strategy.Feedbacks of the robot orientation,robot position,robot linear and angular velocity,and motor currents are given to the control system.Findings–To improve the precision,the dynamics of motors are taken into account.The most important advantages of the proposed control law is that it is free from the robot dynamics,thereby the controller is simple,fast response and robust with ignorable tracking error.The control approach is verified by stability analysis.Simulation results show the effectiveness of the proposed control applied on an uncertain nonholonomic wheeled mobile robot driven by permanent magnet dc motors.A comparison with an adaptive sliding-mode dynamic control approach confirms the superiority of the proposed approach in terms of precision,simplicity of design and computations.Originality/value–The originality of the paper is to present a new control design for an uncertain nonholonomic wheeled mobile robot by using voltage control strategy in replace of the torque control strategy.In addition,a novel state-space model of electrically driven nonholonomic wheeled mobile robot in the workspace is presented. | Mohammad Mehdi Fateh Ali Asghar Arab | 2014 | International Journal of Intelligent Computing and Cybernetics2014，7，4： | 0 |
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