Design and Tuning of Importance-Based Fuzzy Logic Controller for a Flexible-Link Manipulator

Document Type

Article

Publication Date

1-1-2006

Publication Title

Journal of Intelligent and Fuzzy Systems

Volume

17

Issue

3

First page number:

313

Last page number:

323

Abstract

Fuzzy logic control presents a computationally efficient and robust alternative to conventional controllers for many systems. This paper presents a distributed fuzzy logic controller (FLC) structure for a flexible-link manipulator based on evaluating the importance degrees of the output variables of the system. The two velocity variables, which have higher importance degrees, are grouped together as the inputs of the Velocity FLC. The two displacement variables, which have lower importance degrees, are used as the inputs of the Displacement FLC. The outputs of those two FLCs are summed up to control the joint of the flexible link. The fuzzy rules of the distributed importance-based FLCs are written based on the expert knowledge, and the parameters of the membership functions of the two FLCs are tuned using nonlinear programming. The distributed importance-based FLC structure is further compared with two other commonly used structures: a Linear Quadratic Regulator and a distributed PD-like FLC. The robustness of the three controllers are tested and compared under various conditions.

Keywords

Automatic control; Fuzzy logic; Manipulators (Mechanism)

Disciplines

Applied Mathematics | Artificial Intelligence and Robotics | Computer-Aided Engineering and Design | Controls and Control Theory | Control Theory | Electrical and Computer Engineering | Mechanical Engineering

Language

English

Permissions

Use Find in Your Library, contact the author, or use interlibrary loan to garner a copy of the article. Publisher copyright policy allows author to archive post-print (author’s final manuscript). When post-print is available or publisher policy changes, the article will be deposited

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