论文信息 - Precision Improvement Based on Intelligent Hype-Plane Computed Torque Control

Precision Improvement Based on Intelligent Hype-Plane Computed Torque Control

Multi-degrees-of-freedom (DOF) actuators are wide used in a number of Industries. Currently, a significant number of the existing robotic actuators that can realize multi-DOF motion are constructed using gear and linkages to connect several single-DOF motors in series and/or parallel. The main challenge to use this actuator is control. Nonlinear controllers are the main choice to control of spherical motors. Computed torque controller is one of the nonlinear controllers. One of the main challenges in this controller is having dependence to the systems dynamic as well as measure the desired acceleration. To reduce above challenges, hype-plane computed torque controller is recommended in this research. Fuzzy hype-plane variable computed torque controller is adopted to guarantee the error convergence to zero in a finite time when the error is around the zero without to use desired acceleration. To increase the system robustness in presence of uncertainty fuzzy logic controller is recommended.

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