A stable self-organizing fuzzy controller for robotic motioncontrol
Shiuh-Jer Huang
Ji-Shin Lee
Dept. of Mech. Eng., Nat. Taiwan Univ. of Sci. & Technol., Taipei;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Apr 2000
Volume: 47,
Issue: 2
On page(s): 421-428
ISSN: 0278-0046
References Cited: 16
CODEN: ITIED6
INSPEC Accession Number: 6573381
Digital Object Identifier: 10.1109/41.836358
Current Version Published: 2002-08-06
Abstract
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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