Modeling and Advanced Controller for Precise Control of Dual-Axis Manipulator

Jim Wei Wu; Wen Shan Cen; Tzu Lin Lee; Yu Chen Lin; Bo Jun Chen

doi:10.1109/iFUZZY55320.2022.9985224

Modeling and Advanced Controller for Precise Control of Dual-Axis Manipulator

Jim Wei Wu, Wen Shan Cen, Tzu Lin Lee, Yu Chen Lin, Bo Jun Chen

Department of Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

The industrial manipulator is an efficient production tool with the advantages of all-weather work, low maintenance cost, and high production efficiency. However, precisely controlling the manipulator to track the desired trajectory is a crucial problem that cannot be ignored during the operation of the manipulator. In this paper, we try to overcome the tracking accuracy and stability problems of the dual-axis manipulator from the controller. We design an advanced controller which utilizes RBFNN and TDE to tackle interferences, and NFTSMC is used to deal with estimate errors. Finally, we set a series of simulations to verify the enhanced model and proposed controller.

Original language	English
Title of host publication	2022 International Conference on Fuzzy Theory and Its Applications, iFUZZY 2022
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781665495875
DOIs	https://doi.org/10.1109/iFUZZY55320.2022.9985224
State	Published - 2022
Event	2022 International Conference on Fuzzy Theory and Its Applications, iFUZZY 2022 - Kaohsiung, Taiwan Duration: 3 Nov 2022 → 5 Nov 2022

Publication series

Name	2022 International Conference on Fuzzy Theory and Its Applications, iFUZZY 2022

Conference

Conference	2022 International Conference on Fuzzy Theory and Its Applications, iFUZZY 2022
Country/Territory	Taiwan
City	Kaohsiung
Period	3/11/22 → 5/11/22

Keywords

advanced controller
dual-axis manipulator
enhanced dynamic model

Access to Document

10.1109/iFUZZY55320.2022.9985224

AFR演算法開發與應用計畫
Wu, J.-W. . (PI)
1/06/22 → 31/05/23
Project: Research

Cite this

Wu, J. W., Cen, W. S., Lee, T. L., Lin, Y. C., & Chen, B. J. (2022). Modeling and Advanced Controller for Precise Control of Dual-Axis Manipulator. In 2022 International Conference on Fuzzy Theory and Its Applications, iFUZZY 2022 (2022 International Conference on Fuzzy Theory and Its Applications, iFUZZY 2022). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/iFUZZY55320.2022.9985224

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abstract = "The industrial manipulator is an efficient production tool with the advantages of all-weather work, low maintenance cost, and high production efficiency. However, precisely controlling the manipulator to track the desired trajectory is a crucial problem that cannot be ignored during the operation of the manipulator. In this paper, we try to overcome the tracking accuracy and stability problems of the dual-axis manipulator from the controller. We design an advanced controller which utilizes RBFNN and TDE to tackle interferences, and NFTSMC is used to deal with estimate errors. Finally, we set a series of simulations to verify the enhanced model and proposed controller.",

keywords = "advanced controller, dual-axis manipulator, enhanced dynamic model",

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Wu, JW, Cen, WS, Lee, TL, Lin, YC & Chen, BJ 2022, Modeling and Advanced Controller for Precise Control of Dual-Axis Manipulator. in 2022 International Conference on Fuzzy Theory and Its Applications, iFUZZY 2022. 2022 International Conference on Fuzzy Theory and Its Applications, iFUZZY 2022, Institute of Electrical and Electronics Engineers Inc., 2022 International Conference on Fuzzy Theory and Its Applications, iFUZZY 2022, Kaohsiung, Taiwan, 3/11/22. https://doi.org/10.1109/iFUZZY55320.2022.9985224

Modeling and Advanced Controller for Precise Control of Dual-Axis Manipulator. / Wu, Jim Wei; Cen, Wen Shan; Lee, Tzu Lin et al.
2022 International Conference on Fuzzy Theory and Its Applications, iFUZZY 2022. Institute of Electrical and Electronics Engineers Inc., 2022. (2022 International Conference on Fuzzy Theory and Its Applications, iFUZZY 2022).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Cen, Wen Shan

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AU - Chen, Bo Jun

PY - 2022

Y1 - 2022

N2 - The industrial manipulator is an efficient production tool with the advantages of all-weather work, low maintenance cost, and high production efficiency. However, precisely controlling the manipulator to track the desired trajectory is a crucial problem that cannot be ignored during the operation of the manipulator. In this paper, we try to overcome the tracking accuracy and stability problems of the dual-axis manipulator from the controller. We design an advanced controller which utilizes RBFNN and TDE to tackle interferences, and NFTSMC is used to deal with estimate errors. Finally, we set a series of simulations to verify the enhanced model and proposed controller.

AB - The industrial manipulator is an efficient production tool with the advantages of all-weather work, low maintenance cost, and high production efficiency. However, precisely controlling the manipulator to track the desired trajectory is a crucial problem that cannot be ignored during the operation of the manipulator. In this paper, we try to overcome the tracking accuracy and stability problems of the dual-axis manipulator from the controller. We design an advanced controller which utilizes RBFNN and TDE to tackle interferences, and NFTSMC is used to deal with estimate errors. Finally, we set a series of simulations to verify the enhanced model and proposed controller.

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KW - dual-axis manipulator

KW - enhanced dynamic model

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M3 - 會議論文篇章

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BT - 2022 International Conference on Fuzzy Theory and Its Applications, iFUZZY 2022

PB - Institute of Electrical and Electronics Engineers Inc.

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Y2 - 3 November 2022 through 5 November 2022

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Wu JW, Cen WS, Lee TL, Lin YC, Chen BJ. Modeling and Advanced Controller for Precise Control of Dual-Axis Manipulator. In 2022 International Conference on Fuzzy Theory and Its Applications, iFUZZY 2022. Institute of Electrical and Electronics Engineers Inc. 2022. (2022 International Conference on Fuzzy Theory and Its Applications, iFUZZY 2022). doi: 10.1109/iFUZZY55320.2022.9985224

Modeling and Advanced Controller for Precise Control of Dual-Axis Manipulator

Abstract

Publication series

Conference

Keywords

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AFR演算法開發與應用計畫

Cite this