Hierarchical fuzzy control to ensure stable grasping

In many robotic applications, the end effector consists of a gripper which has to execute a stable grasping while the manipulator is moving it in the workspace. Stable grasping is important to ensure the integrity of the object as well as the success of the overall performance. Accordingly, the end effector operation must be insensitive to external disturbances. End effector vertical acceleration is considered as a disturbance as it is able to induce slip on the grasped object. If the controller has information about this disturbance, the grasping can be more stable. In addition, if the controller can limit the disturbance, the grasping operation can be improved even more. Accordingly, an algorithm for limiting the end effector vertical acceleration to assurance stable grasping is proposed. The controller has an hierarchical architecture in order to avoid the curse of dimensionality and to deal with the information which is hierarchical in nature. The limit is calculated by a fuzzy controller which uses information from both the current applied force to the object and the actuator applied energy. �2006 IEEE

Hierarchical fuzzy control to ensure stable grasping

In this paper, a controller for internal combustion engine is presented. This scheme is based on the combination of high order sliding mode, integral sliding mode and globally linearizing strategies. That technique is used to find a control law such that output is related linearly to the input, i.e. to find a suitable equation eliminating the non-linearity between output and input. The integral sliding mode control is used to guarantee the robustness of the closed-loop system, and the high order sliding mode control is applied to track the reference signal, to reject perturbations and to estimate a certain unknown value of the system by means of the equivalent control method. " 2014 IEEE.",,,,,,"10.1109/VSS.2014.6881111",,,"http://hdl.handle.net/20.500.12104/41920","http://www.scopus.com/inward/record.url?eid=2-s2.0-84906821053&partnerID=40&md5=cb2751a62262af3610d52fe6ebafda84",,,,,,,,"Proceedings of IEEE Workshop on Applications of Computer Vision",,,,,,"Scopus",,,,,,,,,,,,"Higher order integral nested sliding mode control of internal combustion engine",,"Conference Paper" "43672","123456789/35008",,"Domínguez-López, J.A., Centro Universitario de Los Lagos, Universidad de Guadalajara, Lagos de Moreno, Mexico, Grupo de Consultoría en Calidad y Desarrollo Tecnológico, León, Guanajuato, Mexico; Vila-Rosado, D.N., Centro de Investigación en Matemáticas, Guanajuato, Mexico, Grupo de Consultoría en Calidad y Desarrollo Tecnológico, León, Guanajuato, Mexico",,"Dominguez-Lopez, J.A