DESIGN OF FUZZY CONTROL FOR UNCERTAIN UNDERACTUATED MECHANICAL SYSTEMS

Document Type : Original Article

Author

Lecturer, the High Institute of Engineering, City of Science and Culture, 6th of October City, Giza, Egypt.

Abstract

ABSTRACT
This study presents a fuzzy control strategy of underactuated mechanical systems
with parametric uncertainties. Underactuated mechanical systems have fewer control
inputs than degrees of freedom and arise in applications, such as space and
undersea robots, mobile robots, walking, brachiating, and gymnastic robots. The
Lagrangian dynamics of these systems may contain feed forward non-linear ties,
non-minimum phase zero dynamics, nonholonomic constraints, and other properties
that place this class of systems at the forefront of research in nonlinear control. A
complete understanding of the control of these systems is therefore lacking. First,
this paper represents a brief introduction to the underactuated mechanical systems,
the causes of their underactuation and parameters uncertain. Then it deals with the
analysis and design of fuzzy controller for one of the application of uncertain
underactuated mechanical systems; single flexible link robot. The parameters
uncertainties of the flexible robot are presented as bounded variation in payload
mass and rotational inertia of the link.

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