Backstepping and self-organizing fuzzy control hybridized for linear motor single-axis robots

Kou Cheng Hsu, Hsin Han Chiang, Lian Wang Lee

研究成果: 書貢獻/報告類型會議論文篇章

摘要

This paper proposes an adaptive motion control system for a linear motor single-axis robot, which is mainly composed of a linear induction motor (LIM). On the basis of indirect field-oriented control mechanism, the dynamics of linear motor robot is investigated for considering the time-varying uncertainties that exist in the LIM drive. Next, a backstepping controller is designed for the objective of tracking periodic reference trajectories. To relax the prior knowing of the system uncertainties which are lumped by a conservative constant, a self-organizing fuzzy controller is hybridized into the backstepping controller so that the lumped uncertainties can be confronted in practical applications. The experimental results including good tracking performance against uncertainties can verify the effectiveness of the proposed control scheme.

原文英語
主出版物標題2015 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2015
發行者Institute of Electrical and Electronics Engineers Inc.
ISBN(電子)9781479918515
DOIs
出版狀態已發佈 - 2015
對外發佈
事件International Conference on Advanced Robotics and Intelligent Systems, ARIS 2015 - Taipei, 臺灣
持續時間: 2015 5月 292015 5月 31

出版系列

名字2015 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2015

會議

會議International Conference on Advanced Robotics and Intelligent Systems, ARIS 2015
國家/地區臺灣
城市Taipei
期間2015/05/292015/05/31

ASJC Scopus subject areas

  • 人工智慧
  • 控制與系統工程

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