Dual-layer fuzzy control architecture for the CAS rover arm

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	Dual-layer fuzzy control architecture for the CAS rover arm
	Gao HW(高宏伟); Liu JG(刘金国); Li YM(李杨民); Hong, Kun; Zhang Y(张阳)
刊名	International Journal of Control, Automation and Systems
	2015
卷号	13 期号:5 页码:1262-1271
关键词	CAS rover arm force control fuzzy impedance fuzzy PD
ISSN号	1598-6446
通讯作者	刘金国 ; 李杨民
产权排序	1
中文摘要	Since the conventional impedance control method for a rover arm is not suitable for unconstructed environment with uncertainties, a fuzzy inference method which improves the impedance model dynamically is introduced to realize high-precision control. The fuzzy PD control algorithm which applies to the joint control of a rover arm is analyzed in this paper. With the two level control algorithms, a novel dual-layer fuzzy control framework is proposed, which can enhance the control performance significantly. In order to verify the validity and reliability of the designed algorithms, the robotic arm of the CAS rover is considered as an experimental platform. Kinematics and dynamics models of robotic arm are derived at first. Moreover, the fuzzy inference mechanism and implementation process of impedance model parameters are illustrated. Extensive simulations and experimental results show that the control accuracy and the force control of the system have been significantly improved with the proposed dual-layer fuzzy control architecture.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Automation & Control Systems
研究领域[WOS]	Automation & Control Systems
关键词[WOS]	ROBOTIC MANIPULATORS ; FORCE CONTROL ; UNCERTAINTIES ; EXPLORATION ; KINEMATICS
收录类别	SCI ; EI
语种	英语
WOS记录号	WOS:000361756300023
内容类型	期刊论文
源URL	[http://ir.sia.ac.cn/handle/173321/16186]
专题	沈阳自动化研究所_空间自动化技术研究室
推荐引用方式 GB/T 7714	Gao HW,Liu JG,Li YM,et al. Dual-layer fuzzy control architecture for the CAS rover arm[J]. International Journal of Control, Automation and Systems,2015,13(5):1262-1271.
APA	Gao HW,Liu JG,Li YM,Hong, Kun,&Zhang Y.(2015).Dual-layer fuzzy control architecture for the CAS rover arm.International Journal of Control, Automation and Systems,13(5),1262-1271.
MLA	Gao HW,et al."Dual-layer fuzzy control architecture for the CAS rover arm".International Journal of Control, Automation and Systems 13.5(2015):1262-1271.