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NEIZRAZITO ADAPTIVNO UPRAVLJANJE SILOM DODIRA SLIJEDNIH MEHANIZAMA S JEDNIM STUPNJEM SLOBODE GIBANJA


Bogdan, Stjepan; Kovačić, Zdenko
NEIZRAZITO ADAPTIVNO UPRAVLJANJE SILOM DODIRA SLIJEDNIH MEHANIZAMA S JEDNIM STUPNJEM SLOBODE GIBANJA // Automatika, 43 (2002), 3-4; 119-129 (podatak o recenziji nije dostupan, članak, znanstveni)


Naslov
NEIZRAZITO ADAPTIVNO UPRAVLJANJE SILOM DODIRA SLIJEDNIH MEHANIZAMA S JEDNIM STUPNJEM SLOBODE GIBANJA
(FUZZY RULE-BASED ADAPTIVE FORCE CONTROL OF SINGLE DOF SERVO MECHANISMS)

Autori
Bogdan, Stjepan ; Kovačić, Zdenko

Izvornik
Automatika (005-1144) 43 (2002), 3-4; 119-129

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
force/position control; fuzzy logic control algorithms; adaptive control

Sažetak
The paper presents position/force control with a completely fuzzified adaptive force control system for the single degree of freedom servo mechanisms. The proposed force control scheme contains an adaptive fuzzy force controller and a subordinated fuzzy velocity controller. By using a second-order reference model, a model reference-based fuzzy adaptation mechanism is able to keep the error between the model and system output responses within desired limits. The results obtained by computer simulations indicate a stable performance of the force control system for a wide range of environment stiffness variations. The proposed adaptive force control method has also been effective in case of a contact with a rough surface or a complex form workpiece.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika



POVEZANOST RADA


Projekt / tema
0036044

Ustanove
Fakultet elektrotehnike i računarstva, Zagreb

Profili:

Avatar Url Zdenko Kovačić (autor)

Avatar Url Stjepan Bogdan (autor)

Citiraj ovu publikaciju

Bogdan, Stjepan; Kovačić, Zdenko
NEIZRAZITO ADAPTIVNO UPRAVLJANJE SILOM DODIRA SLIJEDNIH MEHANIZAMA S JEDNIM STUPNJEM SLOBODE GIBANJA // Automatika, 43 (2002), 3-4; 119-129 (podatak o recenziji nije dostupan, članak, znanstveni)
Bogdan, S. & Kovačić, Z. (2002) NEIZRAZITO ADAPTIVNO UPRAVLJANJE SILOM DODIRA SLIJEDNIH MEHANIZAMA S JEDNIM STUPNJEM SLOBODE GIBANJA. Automatika, 43 (3-4), 119-129.
@article{article, year = {2002}, pages = {119-129}, keywords = {force/position control, fuzzy logic control algorithms, adaptive control}, journal = {Automatika}, volume = {43}, number = {3-4}, issn = {005-1144}, title = {FUZZY RULE-BASED ADAPTIVE FORCE CONTROL OF SINGLE DOF SERVO MECHANISMS}, keyword = {force/position control, fuzzy logic control algorithms, adaptive control} }