Academic Journals Database
Disseminating quality controlled scientific knowledge

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

ADD TO MY LIST
 
Author(s): Hicham Chaoui | Wail Gueaieb | Mohammad Biglarbegian | Mustapha C. E. Yagoub

Journal: Robotics
ISSN 2218-6581

Volume: 2;
Issue: 2;
Start page: 66;
Date: 2013;
Original page

Keywords: type-2 fuzzy control | uncertain systems | robot manipulators | flexible structures | adaptive control

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.
RPA Switzerland

RPA Switzerland

Robotic process automation

    

Tango Jona
Tangokurs Rapperswil-Jona