Discrete-time adaptive controller based on IF-THEN rules database for novel architecture of ABB IRB-1400

摘要

The robotic architecture based on variable-frequency drive (VFD) and databased equivalent model is utilized for improving the performance of the robotic arm ABB: IRB-1400. The multiplexer-buffer units of the robotic system are designed to select the output feedback for the controller when the input is frequency command for digital VFD units. The proposed robotic architecture is considered as a class of unknown nonlinear discrete-time systems when the robotic system is accessed only input-output data. The equivalent model is established by multi-input fuzzy rules emulated networks (MiFREN) with the IF-THEN rules database designated by human knowledge according to the robot's tasks and input- output data. The adaptive controller is developed by the estimated pseudo-Jacobian matrix (PJM) when the closed-loop performance is guaranteed by the designed parameters. Furthermore, the experimental system is constructed to validate the performance of the robotic system and the proposed controller altogether with comparative results from existent schemes. (c) 2020 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.