论文信息 - A frequency modeling method of rubbertuators for control application in an IMA framework

A frequency modeling method of rubbertuators for control application in an IMA framework

This paper presents the results of rubbertuator modeling for purposes of control applications. A pair of rubbertuators is constructed as a revolute joint. The rubbertuator arm is highly nonlinear and exhibits hysteresis. The frequency modeling method was implemented using software agents within the intelligent machine architecture (IMA) framework. Several linear models were built, simulated, and employed to design a controller for the rubbertuators. The results show that all models match the experimental data in each frequency range. A fuzzy model-based controller was designed and implemented as an example using the IMA framework.

[1] Chung-Chun Kung,et al. Fuzzy Controller Design: A Sliding Mode Approach , 1994 .

[2] Stephen Yurkovich,et al. Fuzzy Control , 1997 .

[3] James L. Melsa,et al. Linear Control Systems , 1992 .

[4] Lennart Ljung,et al. System Identification: Theory for the User , 1987 .

[5] Roderick Murray-Smith,et al. The operating regime approach to nonlinear modelling and control , 1997 .

[6] Jacob S. Glower,et al. Designing fuzzy controllers from a variable structures standpoint , 1997, IEEE Trans. Fuzzy Syst..

[7] Don Mitchell Wilkes,et al. A software architecture for integrated service robot development , 1997, 1997 IEEE International Conference on Systems, Man, and Cybernetics. Computational Cybernetics and Simulation.

[8] Katsuhiko Ogata,et al. Modern Control Engineering , 1970 .

[9] Kanji Inoue,et al. Rubbertuators and applications for robots , 1988 .

[10] Kazuhiko Kawamura,et al. Intelligent robotic systems in service of the disabled , 1995 .

[11] Choon Yik Tang,et al. Discrete variable structure control for linear multivariable systems: the state feedback case , 1998, Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207).