TY - JOUR ID - 739 TI - Direct adaptive fuzzy control of flexible-joint robots including actuator dynamics using particle swarm optimization JO - Journal of AI and Data Mining JA - JADM LA - en SN - 2322-5211 AU - Moradizirkohi, M. AU - Izadpanah, S. AD - Department of Electrical Engineering, Behbahan Khatam Alanbia University of Technology, Behbahan, Iran. Y1 - 2017 PY - 2017 VL - 5 IS - 1 SP - 137 EP - 147 KW - Fuzzy System KW - Particle Swarm Optimization KW - flexible-joints robot KW - Actuator Dynamics DO - 10.22044/jadm.2016.739 N2 - In this paper a novel direct adaptive fuzzy system is proposed to control flexible-joints robot including actuator dynamics. The design includes two interior loops: the inner loop controls the motor position using proposed approach while the outer loop controls the joint angle of the robot using a PID control law. One novelty of this paper is the use of a PSO algorithm for optimizing the control design parameters to achieve a desired performance. It is worthy of note that to form control law by considering practical considerations just the available feedbacks are used. It is beneficial for industrial applications wherethe real-time computation is costly. The proposed control approach has a fast response with a good tracking performance under the well-behaved control efforts. The stability is guaranteed in the presence of both structured and unstructured uncertainties. As a result, all system states are remained bounded. Simulation results on a two-link flexible-joint robot show the efficiency of the proposed scheme. UR - https://jad.shahroodut.ac.ir/article_739.html L1 - https://jad.shahroodut.ac.ir/article_739_f5ed9069b61ee046d9bf176b039d0680.pdf ER -