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Performance assessment of a trajectory‐tracking approach for a manipulator with uncertainties using inverse fuzzy arithmetic
Author(s) -
Walz NicoPhilipp,
Hanss Michael
Publication year - 2015
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.201510029
Subject(s) - robustness (evolution) , control theory (sociology) , inverse , trajectory , fuzzy logic , kinematics , inverse dynamics , computer science , mathematics , fuzzy control system , manipulator (device) , tracking (education) , control (management) , artificial intelligence , robot , psychology , pedagogy , biochemistry , chemistry , physics , classical mechanics , gene , geometry , astronomy
A trajectory‐tracking approach for a parallel kinematic manipulator with flexible links is investigated with respect to its robustness to undesired initial oscillations. For this purpose, an inverse fuzzy arithmetical scheme is presented and applied, in order to estimate allowable bounds on the initial conditions such that a certain tolerance band around the desired trajectory is not violated. The uncertainty bounds on the initial conditions obtained from this identification procedure indicate the influence of the disturbances on the tracking error, and thus also the robustness and the performance of the control scheme. (© 2015 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)