Adaptive decentralized fuzzy compensation control for large optical mirror processing systems
ISSN: 0143-991x
Article publication date: 9 January 2024
Issue publication date: 26 January 2024
Abstract
Purpose
Large optical mirror processing systems (LOMPSs) consist of multiple subrobots, and correlated disturbance terms between these robots often lead to reduced processing accuracy. This abstract introduces a novel approach, the nonlinear subsystem adaptive dispersed fuzzy compensation control (ADFCC) method, aimed at enhancing the precision of LOMPSs.
Design/methodology/approach
The ADFCC model for LOMPS is developed through a nonlinear fuzzy adaptive algorithm. This model incorporates control parameters and disturbance terms (such as those arising from the external environment, friction and correlation) between subsystems to facilitate ADFCC. Error analysis is performed using the subsystem output parameters, and the resulting errors are used as feedback for compensation control.
Findings
Experimental analysis is conducted, specifically under the commonly used concentric circle processing trajectory in LOMPS. This analysis validates the effectiveness of the control model in enhancing processing accuracy.
Originality/value
The ADFCC strategy is demonstrated to significantly improve the accuracy of LOMPS output, offering a promising solution to the problem of correlated disturbances. This work holds the potential to benefit a wide range of practical applications.
Keywords
Acknowledgements
The authors wish to thank Jin and Peng for providing the research methods; Yin and Liu for conceiving and designing the schemes; and Jin for performing the experiments and analyzing the data.
Funding: This work was supported by the Doctoral Scientific Research Foundation of Suzhou University [grant number 2023BSK016]; the Key Project of Natural Science Research in Universities of Anhui Province [grant number 2022AH051380]; and the Open Subject of Scientific Research Platform of Suzhou University [grant number 2022ykf10].
Declaration: The authors declare no competing interests.
Citation
Jin, Z., Yin, Z., Peng, S. and Liu, Y. (2024), "Adaptive decentralized fuzzy compensation control for large optical mirror processing systems", Industrial Robot, Vol. 51 No. 1, pp. 177-188. https://doi.org/10.1108/IR-09-2023-0207
Publisher
:Emerald Publishing Limited
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