Proceedings ArticleDOI
Hierarchical Fuzzy Controller for Robot Manipulator
A. Abdel Hadi,A.-L. Elshafei +1 more
- pp 33-38
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TLDR
This work proposes a fuzzy-logic based dynamic observer to estimate the modeling uncertainties and external disturbances and incorporates the estimated model within the control law to guarantee an acceptable tracking performance.Abstract:
Adaptive fuzzy controllers are potential candidates for controlling robot arms. However, traditional fuzzy controllers suffer from the rule explosion phenomenon. We propose here a hierarchical scheme to implement the fuzzy system and consequently relax the rule explosion problem. Furthermore, since payloads are normally varying, robotic models are uncertain. We propose a fuzzy-logic based dynamic observer to estimate the modeling uncertainties and external disturbances. The estimated model is incorporated within the control law to guarantee an acceptable tracking performance. We prove that the proposed adaptive fuzzy controller assures that all signals are uniformly ultimately bounded. Simulation results of a two-link robot arm are reported to confirm the validity of our theoretical results.read more
References
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Book
Applied Nonlinear Control
TL;DR: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).
Journal ArticleDOI
Approximation theory of fuzzy systems/spl minus/SISO case
Xiao-Jun Zeng,M.G. Singh +1 more
TL;DR: The similarity between fuzzy systems and mathematical approximation is discussed and an idea to improve approximation accuracy is suggested based on uniform approximation bounds.
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Hierarchical fuzzy control
TL;DR: The hierarchical fuzzy control algorithm developed in this paper is applied to control the feedwater flow to a steam generator of a power plant and results show that the hierarchical fuzzy controller yields superior performance over the conventional PID controller.
Journal ArticleDOI
Analysis and design of hierarchical fuzzy systems
TL;DR: It is proved that the hierarchical fuzzy systems are universal approximators and the sensitivity of the fuzzy system output with respect to small perturbations in its inputs is analyzed.
Journal ArticleDOI
Adaptive hierarchical fuzzy controller
G.V.S. Raju,Jun Zhou +1 more
TL;DR: A methodology for designing adaptive hierarchical fuzzy controllers is presented and a supervisory fuzzy rule set was constructed and used to change the parameters of a hierarchical fuzzy controller to accommodate the variations of system parameters.