A stable self-organizing fuzzy controller for robotic motioncontrol
Shiuh-Jer Huang; Ji-Shin Lee
Industrial Electronics, IEEE Transactions on
Volume 47, Issue 2, Apr 2000 Page(s):421 - 428
Digital Object Identifier   10.1109/41.836358
Summary:It is well known that robotic manipulators are highly nonlinear coupling dynamic systems. It is difficult to establish an appropriate mathematical model for the design of a model-based controller. Although fuzzy logic control has a model-free feature, it still needs time-consuming work for the rules bank and fuzzy parameters adjustment. In this paper, a stable self-organizing fuzzy controller (SOFC) is proposed to manipulate the motion trajectory of a 5-degrees-of-freedom robot. This approach has a learning ability for responding to the time-varying characteristic of a robot. Its control rules bank can be established and modified continuously by online learning with zero initial fuzzy rules. In addition, this control strategy has effectively improved the stability problem of a previous SOFC. The experimental results show that this intelligent controller has a stable learning ability and good motion control capability

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