Stability indices for a self-organizing fuzzy controlled robot: A case study

Lin, Jeen; Lian, Ruey-Jing

doi:10.1016/j.engappai.2010.04.005

Cited by 15 publications

(2 citation statements)

References 25 publications

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“…Robotic manipulators are multiple degrees of freedom (DOFs), complicated and nonlinear coupling systems, which have currently become one of the most important machines for modern automation. 1–4 In practical application, it is often difficult to identify the robotic mathematical model accurately, because of the various dynamic uncertainties such as unknown loads, gravitational force, nonlinear frictions, external disturbances, the manufacturing imprecision of the manipulator links, and other unmodeled nonlinearities. 5–8 Therefore, the development of robust adaptive control technology to handle robotic manipulators is extremely important and challenging for precise robotic motion control.…”

Section: Introductionmentioning

confidence: 99%

Tracking control using hierarchical fuzzy-regulated optimal approach for robotic manipulators

Zhang

2018

Proceedings of the Institution of Mechanical Engineers, Part C:

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Robotic manipulators have captured the attention of many specialists owing to its importance in academic research and industrial automation. This paper proposes a novel hierarchical self-organizing fuzzy optimal controller for the trajectory tracking control of robotic manipulator systems. The hierarchical self-organizing fuzzy optimal controller employs a self-organizing fuzzy logic system as a superior control strategy regulator for a subordinate optimal tracking controller. Using the self-organizing learning and fuzzy inference operation, the weighting matrix in the optimal controller is configured adaptively according to the robotic dynamical behavior. The optimal tracking control law under this hierarchical architecture is derived using the maximum principle. Stability and robustness of the hierarchical self-organizing fuzzy optimal controller are then analyzed and proved through the Lyapunov stability approach and Barbalat's Lemma. A simulation study demonstrates the effectiveness and feasibility of this hierarchical system, and compares it with a self-organizing fuzzy controller.

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Section: Introductionmentioning

confidence: 99%

Tracking control using hierarchical fuzzy-regulated optimal approach for robotic manipulators

Zhang

2018

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…Very similar solution but with the application to the power system stabilization is presented in [15]. Other applications of adaptive or self-Ã Fuzzy Systems include sophisticated air conditioning systems [18], robotic systems [19,20], motor drives [21] and even automotive systems [22].…”

Section: Introductionmentioning

confidence: 99%

Context-aware Fuzzy Control Systems

Pelc

2014

Int. J. Soft. Eng. Knowl. Eng.

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In this paper an example of a hierarchical context-aware run-time recon¯gurable control system is presented. The context-awareness is resulting from using policy-based computing as a technology allowing the control system to replace its decision making logic in run-time in response to changing environment conditions.The proposed solution allows system experts to specify policies (AGILE policies) used in the Supervision Layer for the purpose of making decisions regarding the most appropriate controller con¯guration and on the other side, they can specify policies (Fuzzy Logic policies) used in the Control Layer in order to generate control signals allowing to achieve speci¯ed control goals.Novelty of the proposed solutions lays in combination of two technologies, Open Decision Point technology originating from the Software Engineering domain Policy-based Computing that is originating from the Knowledge Engineering domain in application to non-linear control systems.

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Control of a Two Link Planar Electrically-Driven Rigid Robotic Manipulator Using Fractional Order SOFC

Azar

Kumar

et al. 2017

Proceedings of the International Conference on Advanced Intelligent Systems and Informatics 2017

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Stability indices for a self-organizing fuzzy controlled robot: A case study

Cited by 15 publications

References 25 publications

Tracking control using hierarchical fuzzy-regulated optimal approach for robotic manipulators

Tracking control using hierarchical fuzzy-regulated optimal approach for robotic manipulators

Context-aware Fuzzy Control Systems

Control of a Two Link Planar Electrically-Driven Rigid Robotic Manipulator Using Fractional Order SOFC

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