Modelagem e controle fuzzy a horizonte fixo de robôs movéis articulados: Caso real de 3 graus de liberdade e 343 regras

This paper discusses a new method to describe movements by fuzzy predictors and to design new open loop fuzzy controllers, for multilinked vehicles or mobile robots, using constant step approximators to model complex maneuvers with delays that vary with the robot's configuration. The “Wang & Mendel” technique for automatic modeling is tested and an ad hoc heuristic is proposed to fulfils the deficiencies of the former method and establish good models. Without loss of generality, the systematization is exemplified by a real case with a three degrees of freedom prototype to developing reduced, but coupled, fuzzy controlers with 343 rules.