Lei Pan

Publication Date

1998

Document Type

Dissertation/Thesis

First Advisor

Woo, Peng-Yung

Degree Name

M.S. (Master of Science)

Legacy Department

Department of Electrical Engineering

LCSH

Robots--Control systems; Fuzzy logic; Gravity

Abstract

Fuzzy logic is often used in situations where there is a large uncertainty or unknown variation in plant parameters and structures. Because a robot is a strong nonlinear, high-order and dynamic coupling system for which there are many uncertainties or unknowns, it should be an efficient strategy to employ fuzzy logic in a robot system. This thesis presents a PD robot controller with fuzzy adaptive gravity compensation. The main idea is to use fuzzy adaptive logic controller to compensate for the gravity term of robot manipulators. This controller is designed by using Liapunov’s stability approach which guarantees the system’s stability. Simulation is implemented in a two-link robot by using MATLAB and SIMULINK. The results show that this fuzzy adaptive controller makes the robot link converge to a desired position. Compared with conventional PID and adaptive controllers, this controller is more robust and has fewer requirements for the robot system.

Comments

Includes bibliographical references (pages [89]-90)

Extent

ix, 90 pages

Language

eng

Publisher

Northern Illinois University

Rights Statement

In Copyright

Rights Statement 2

NIU theses are protected by copyright. They may be viewed from Huskie Commons for any purpose, but reproduction or distribution in any format is prohibited without the written permission of the authors.

Media Type

Text

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