Type-2 fuzzy logic control of a flexible-joint manipulator

被引：66

作者：

Chaoui, Hicham ^{[1
]}

Gueaieb, Wail ^{[1
]}

机构：

[1] Univ Ottawa, Machine Intelligence Robot & Mechatron Lab, Sch Informat Technol & Engn, Ottawa, ON, Canada

来源：

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2008年 / 51卷 / 02期

基金：

加拿大自然科学与工程研究理事会;

关键词：

intelligent control; uncertain systems; robotic manipulator; type-2 fuzzy logic; flexible joints;

D O I：

10.1007/s10846-007-9185-2

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

A type-2 fuzzy logic controller (FLC) is proposed in this article for robot manipulators with joint elasticity and structured and unstructured dynamical uncertainties. The proposed controller is based on a sliding mode control strategy. To enhance its real-time performance, simplified interval fuzzy sets are used. The efficiency of the control scheme is further enhanced by using computationally inexpensive input signals independently of the noisy torque and acceleration signals, and by adopting a trade off strategy between the manipulator's position and the actuators' internal stability. The controller is validated through a set of numerical experiments and by comparing it against its type-1 counterpart. It is shown through these experiments the higher performance of the type-2 FLC in compensating for larger magnitudes of uncertainties with severe nonlinearities.

引用

页码：159 / 186

页数：28

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