Performance evaluation of a systematic fuzzy logic control system

Author

Fugate, David ; Alouani, A.T.

Author_Institution

Tennessee Technol. Univ., Cookeville, TN, USA

fYear

1997

fDate

9-11 Mar 1997

Firstpage

98

Lastpage

102

Abstract

Fuzzy logic control (FLC) has been successfully used in many applications. The design of a FLC has mostly relied on an expert or used ad hoc techniques. For this reason the robustness of FLC has only been shown via testing or simulation. Recently, work developed at Tennessee Technological University (TTU) proved that it is possible to design a FLC that guarantees the system robustness to parameter uncertainties. In addition, this design is systematic and does not require an expert. Instead, it uses available information contained in the system model and interprets the uncertainties in the system as a source of fuzziness. The objective of the paper is to implement this new design methodology to provide real time control and use it to control one joint of an IBM 7540 robot arm. Experimental results of the performance of this controller are presented

Keywords

fuzzy control; fuzzy set theory; intelligent control; manipulators; performance evaluation; real-time systems; uncertain systems; FLC robustness; IBM 7540 robot arm; design methodology; fuzziness; parameter uncertainties; performance evaluation; real time control; system robustness; systematic fuzzy logic control system; used ad hoc techniques; Control systems; Design methodology; Equations; Fuzzy logic; Fuzzy systems; Nonlinear control systems; Robots; Robust control; Robustness; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

System Theory, 1997., Proceedings of the Twenty-Ninth Southeastern Symposium on

Conference_Location

Cookeville, TN

ISSN

0094-2898

Print_ISBN

0-8186-7873-9

Type

conf

DOI

10.1109/SSST.1997.581586

Filename

581586