Computationally Efficient Adaptive Type-2 Fuzzy Control of Flexible-Joint Manipulators
Description
Title: | Computationally Efficient Adaptive Type-2 Fuzzy Control of Flexible-Joint Manipulators |
Authors: | Chaoui, Hicham Gueaieb, Wail Biglarbegian, Mohammad Yagoub, Mustapha |
Date: | 2013-05 |
Abstract: | In this paper, we introduce an adaptive type-2 fuzzy logic controller (FLC) for flexible-joint manipulators with structured and unstructured dynamical uncertainties. Simplified interval fuzzy sets are used for real-time efficiency, and internal stability is enhanced by adopting a trade-off strategy between the manipulator’s and the actuators’ velocities. Furthermore, the control scheme is independent of the computationally expensive noisy torque and acceleration signals. The controller is validated through a set of numerical simulations and by comparing it against its type-1 counterpart. The ability of the adaptive type-2 FLC in coping with large magnitudes of uncertainties yields an improved performance. The stability of the proposed control system is guaranteed using Lyapunov stability theory. |
URL: | http://hdl.handle.net/10393/32146 http://dx.doi.org/10.3390/robotics2020066 |
DOI: | 10.3390/robotics2020066 |
Collection | Science informatique et génie électrique - Publications // Electrical Engineering and Computer Science - Publications |
Files
robotics-02-00066.pdf | 634.69 kB | Adobe PDF | Open |