Journal ArticleDOI
Application of fuzzy logic control to a manipulator
Choo Min Lim,Takashi Hiyama +1 more
- Vol. 7, Iss: 5, pp 688-691
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TLDR
The authors describe a control strategy for robotic manipulators that incorporates a proportional-plus-integral (PI) controller with a simple fuzzy logic (FL) controller, and its effectiveness is demonstrated through simulations involving the control of a two-arm two-link manipulator.Abstract:
The authors describe a control strategy for robotic manipulators that incorporates a proportional-plus-integral (PI) controller with a simple fuzzy logic (FL) controller. In the proposed strategy, the PI controller is used to ensure fast transient response and zero steady-state error for step inputs, or end-point control, whereas the FL controller is used to enhance the damping characteristics of the overall system. The main advantage of the proposed control energy is that only the current and previous measurements and a set of simple control rules are required; as such, it can be readily implemented. The proposed FL controller is described, and its effectiveness is demonstrated through simulations involving the control of a two-arm two-link manipulator. >read more
Citations
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Needs and Opportunities for Uncertainty-Based Multidisciplinary Design Methods for Aerospace Vehicles
Thomas A. Zang,Michael J. Hemsch,Mark W. Hilburger,Sean P. Kenny,James M. Luckring,Peiman G. Maghami,Sharon L. Padula,W. Jefferson Stroud +7 more
TL;DR: The needs and opportunities for computational and experimental methods that provide accurate, efficient solutions to nondeterministic multidisciplinary aerospace vehicle design problems are identified.
Journal ArticleDOI
A stable self-organizing fuzzy controller for robotic motion control
Shiuh-Jer Huang,Ji-Shin Lee +1 more
TL;DR: The experimental results show that the proposed stable self-organizing fuzzy controller to manipulate the motion trajectory of a 5-degrees-of-freedom robot has a stable learning ability and good motion control capability.
Journal ArticleDOI
Robust control of electrically driven robots by adaptive fuzzy estimation of uncertainty
TL;DR: In this article, a nonlinear adaptive fuzzy estimation and compensation of uncertainty is proposed to model the uncertainty as a non-linear function of the joint position error and its time derivative, and a comparison between the proposed Nonlinear Adaptive Fuzzy Control and a Robust Nonlinear Control (NAFC) is presented.
Journal ArticleDOI
Design of self-tuning fuzzy sliding mode control for TORA system
TL;DR: The proposed method eliminates the trial-and-error process for finding appropriate the sliding factor and fuzzy rules in decoupled self-tuning signed-distance fuzzy sliding mode controller implementation, and the response of system will converge faster than that of previous reports.
Journal ArticleDOI
A robust fuzzy logic controller for robot manipulators with uncertainties
Soo Yeong Yi,Myung Jin Chung +1 more
TL;DR: The stability and robustness of a class of the fuzzy logic control (FLC) is investigated and a robust FLC is proposed for a robot manipulator with uncertainties.
References
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Journal ArticleDOI
Fuzzy logic in control systems: fuzzy logic controller. II
TL;DR: The basic aspects of the FLC (fuzzy logic controller) decision-making logic are examined and several issues, including the definitions of a fuzzy implication, compositional operators, the interpretations of the sentence connectives 'and' and 'also', and fuzzy inference mechanisms, are investigated.
Journal Article
Fuzzy logic in control systems : fuzzy logic controller. Part II
TL;DR: The fuzzy logic controller (FLC) based on fuzzy logic provides a means of converting a linguistic control strategy based on expert knowledge into an automatic control strategy.
Journal ArticleDOI
On the iterative learning control theory for robotic manipulators
TL;DR: An iterative learning technique is applied to robot manipulators, using an inherently nonlinear analysis of the learning procedure to prove the possibility of setting up uniform upper bounds to the trajectory errors occurring at each trial.
Journal ArticleDOI
Use of a rule-based system for process control
TL;DR: A rule-based, digital, closed-loop controller that incorporates fuzzy logic has been designed and implemented for the control of power on the 5MW Massachusetts Institute of Technology (MIT) Research Reactor under both steady-state and transient conditions as discussed by the authors.
Journal ArticleDOI
An adaptive control scheme for mechanical manipulators. Compensation of nonlinearity and decoupling control
TL;DR: In this article, an adaptive nonlinear compensator/decoupling controller for mechanical manipulators is presented. But the adaptive control scheme is not suitable for nonlinear manipulators and the performance of a manipulator control system composed of the manipulator, adaptive non linear compensator and state feedback controller with integral action is evaluated.