By Topic

Heuristic design of a fuzzy controller for a flexible robot

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Green, A. ; Mech. & Aerosp. Eng. Dept., Carleton Univ., Ottawa, Ont. ; Sasiadek, J.Z.

A ratio is identified as a heuristic to assist in designing fuzzy logic system (FLS) controllers with a low number of membership functions (MFs), high tracking precision, and fast execution time for the control of a two-link flexible space robot. Comparing simulation results for an FLS with three, five, seven, and nine triangular and Gaussian membership functions provides a combination of type and number of MF for optimal tracking control and execution time. Optimal control occurs when the ratio of the FLS output scaling gain to the number of MFs is equal to the output variable universe of discourse. The optimal FLS design is chosen with three triangular membership functions at an output scaling gain of 15, giving a design ratio of five and execution time of 1 min 40 s while tracking a square trajectory

Published in:

Control Systems Technology, IEEE Transactions on  (Volume:14 ,  Issue: 2 )