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Intelligent Fuzzy Chaotic Control of a Two-Link Rigid Robot Arm

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3 Author(s)
Zanjani, S.A. ; Electron. Eng. Dept., Azad Univ., Tehran, Iran ; Jafari, A.H. ; Nasrabadi, A.M.

A new intelligent fuzzy chaotic control is proposed for two-link rigid robot arm. The system could have a chaotic behavior by applying a proper input. At the first step, input amplitude is varied in chaotic range, then the unstable period orbits (UPOs) of the plant, by using the Poincare map, and the convenient gains, are found for each amplitude. At the second step, maximum changed value of UPOs, which can be controlled with the computed gains, are obtained. So we have a lot of fuzzy regions a round of UPOs with the definite controlling rules. These regions should be overlapped and covered all spaces between two nearer fixed-points. By this way, the system could be controlled by routing the best path with considering the lowest consumption through the UPOs.

Published in:

Computer Modeling and Simulation, 2009. EMS '09. Third UKSim European Symposium on

Date of Conference:

25-27 Nov. 2009