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Systematic design and analysis of fuzzy-logic control and application to robotics: Part II. Control
Department of Mechanical and Industrial Engineering, University of Toronto.ORCID iD: 0000-0003-4977-6339
Department of Mechanical and Industrial Engineering, University of Toronto.
Department of Mechanical and Industrial Engineering, University of Toronto.
2000 (English)In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 33, no 2-3, p. 89-108Article in journal (Refereed) Published
Abstract [en]

This paper (Part II) follows the task of systematic synthesis and analysis of fuzzy-logic control (FLC) systems introduced in Part I [M.R. Emami, et al., Robotics and Autonomous Systems 33 (2000) 65–88]. First, a generalized formulation of the sliding mode control is obtained for a class of nonlinear multi-input–multi-output systems. This formulation has two distinguishing features that are necessary for the formulation of the proposed approach: (i) it is applicable to “black box” systems with no need to identify the internal parameters or to assume a specific structure; (ii) it is possible to design the robust controller for each system state independently while the stability and robustness of the entire system is guaranteed. The robust fuzzy control rules are designed based on the generalized formulation to guarantee the stability and satisfactory system performance. The proposed FLC has been applied to trajectory control of the four degree-of-freedom IRIS arm (Emami et al., 2000), and was compared with high-gain PID controllers. A superior tracking performance was achieved.

Place, publisher, year, edition, pages
2000. Vol. 33, no 2-3, p. 89-108
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Onboard space systems
Identifiers
URN: urn:nbn:se:ltu:diva-10860DOI: 10.1016/S0921-8890(00)00081-6Local ID: 9bc2a9c9-5af9-40c5-b925-1c74dc3c5ee6OAI: oai:DiVA.org:ltu-10860DiVA, id: diva2:983808
Note
Upprättat; 2000; 20150205 (ninhul)Available from: 2016-09-29 Created: 2016-09-29 Last updated: 2017-12-15Bibliographically approved

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