Intelligent Control in Robotics: Design and Application
DOI:
https://doi.org/10.9734/bpi/mono/978-93-5547-376-9Keywords:
Veloce robot, PID controller, Tracking square trajectory, Adaptive fuzzy control, underactuated system, Inertia wheel inverted pendulum, Tracking sinusoidal reference trajectory, Robust control based on nominal model, Rehabilitation robot, Upper limb exoskeletonAbstract
This book focuses on intelligent controllers design in the field of robotics. These advanced controllers were based on using conventional and non-convective control techniques. Each controller design was presented and its performance was validated through numerical simulations of robotic systems examples.
Parallel robotic systems were firstly presented. They have shown for decades that they can perform well in terms of speed and acceleration. A classic PID controller was proposed to control a four degrees of freedom parallel robot namely the VELOCE robot, in order to ensure satisfactory tracking performance despite non-linearity, time- varying parameters and uncertainties.
Then, robotic under-actuated systems and their control challenges were presented. The adaptive fuzzy control technique was considered to control an under-actuated system namely inertia wheel inverted pendulum. This control technique takes into account the variation of the robot’s parameters, the non-linearity of the model to be controlled, and measurement errors.
The last type of robotic systems presented in this book, was the exoskeleton-type robot for neuromotor rehabilitation. The objective is to be able to offer systems capable of controlling the mechanical forces distributed along the patient’s limbs during movements. We focuses on the upper-limb robot control which allows the tracking of the reference trajectories of movements desired by the sick patient. The adaptive sliding mode control was proposed to establish a control allowing to study in a reproducible manner the physical human-robot interaction.
