DocumentCode
2859734
Title
Control of Pendubot with Chaotic Perturbation
Author
Awootsopa, Pongphut ; Sritheerawirojana, Uthai ; Sooraksa, Pitikhate ; Komine, Noriyuki
Author_Institution
Dept. of Inf. Eng., King Mongkut´´s Inst. of Technol., Bangkok
fYear
2006
fDate
24-26 May 2006
Firstpage
1
Lastpage
5
Abstract
This research aims to improve the performance of controlling a pendubot disturbed by chaotic perturbation. The perturbation is in the form of chaotic noises generating using a logistic map type. The control mechanism comprises of two fuzzy controllers working in parallel: one for the actuator located at the first link, the other is for the second one. The propose architecture is said to be robust in the sense that the system can cope with the injected chaotic perturbation proved by simulation results
Keywords
actuators; chaos; fuzzy control; motion control; nonlinear control systems; robots; robust control; actuators; chaotic noises; chaotic perturbation; fuzzy controllers; logistic map type; pendubot control; Actuators; Chaos; Control systems; Equations; Fuzzy control; Fuzzy systems; Logistics; Noise generators; Robots; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics and Applications, 2006 1ST IEEE Conference on
Conference_Location
Singapore
Print_ISBN
0-7803-9513-1
Electronic_ISBN
0-7803-9514-X
Type
conf
DOI
10.1109/ICIEA.2006.257162
Filename
4025780
Link To Document