瞬态(计算机编程)
控制理论(社会学)
瞬态响应
模糊逻辑
能源消耗
能量(信号处理)
模式(计算机接口)
计算机科学
订单(交换)
控制(管理)
数学
人工智能
工程类
经济
统计
财务
电气工程
操作系统
作者
Fatma Abdelhedi,Rim Jallouli Khlif,Ahmed Saïd Nouri,Nabil Derbel
出处
期刊:Fractals
[World Scientific]
日期:2024-07-16
标识
DOI:10.1142/s0218348x24500944
摘要
This work presents a new fuzzy logic parameter tuning-based fractional order sliding mode control (F-FOSMC) strategy for the trajectory tracking of robotic systems. The primary objective is to achieve an optimal control compromise seeking to minimize energy consumption for required motions, all while increasing both accuracy and rapidity of the transient response, addressing therefore a critical challenge in the field of robotics. Our approach integrates a sophisticated fuzzy logic fractional order mechanism to dynamically fine-tune the noninteger derivation parameter of the FOSMC, offering adaptability to varying operational conditions. This intelligent fuzzy logic controller tuning optimizes the FOSMC performance, demonstrates a remarkable capacity to handle uncertainties and disturbances intrinsic to robotic applications and allows to optimize the trade-off between the energy consumption and transient response efficiency throughout the robot’s motion. The effectiveness of the proposed study is thoroughly examined via simulations conducted on a 3 DOF manipulator robotic system. Results showcase that F-FOSMC significantly reduces control energy consumption while preserving rapid and efficient transient response characteristics.
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