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Design of a fuzzy learning controller and its application to robot manipulators

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3 Author(s)
Cheol Lae Roh ; Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea ; Seungdo Kim ; Myung Jin Chung

Fuzzy logic control schemes related by linguistic control rules have been gaining much attention as a method of intelligent control in recent years. However, a fuzzy controller is, in itself, a nonlinear controller having several parameters to be properly determined. In this paper, the authors propose a fuzzy learning controller which has an ability of generating and modifying the control rule-base, and tuning input/output gains for the iterative task. Through simulation studies on a linear time-invariant (LTI) single-input single-output (SISO) system, and a 2-link robot manipulator, the authors evaluate the performance of the proposed controller.<>

Published in:

TENCON '93. Proceedings. Computer, Communication, Control and Power Engineering.1993 IEEE Region 10 Conference on  (Volume:4 )

Date of Conference:

19-21 Oct. 1993