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.
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.
