Computationally Efficient Adaptive Type-2 Fuzzy Control of Flexible-Joint Manipulators

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.
DOI: 10.3390/robotics2020066
CollectionScience informatique et génie électrique - Publications // Electrical Engineering and Computer Science - Publications
robotics-02-00066.pdf634.69 kBAdobe PDFOpen