Performance assessment of a trajectory-tracking approach for a manipulator with uncertainties using inverse fuzzy arithmetic |
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| Authors: | Nico-Philipp Walz Michael Hanss |
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| Institution: | Institut für Technische und Numerische Mechanik, Universität Stuttgart, Pfaffenwaldring 9, 70569 Stuttgart, Germany |
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| Abstract: | 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) |
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