Title :
A hierarchical fuzzy-neural-PD controller for robot manipulators
Author :
Rueda, A. ; Pedrycz, W.
Author_Institution :
Dept. of Electr. & Comput. Eng., Manitoba Univ., Winnipeg, Man., Canada
Abstract :
An original multivariable hierarchical controller for N degrees-of-freedom robot manipulators for control tracking problems is presented in this paper. The system is composed of a coordinator implemented as a fuzzy-neural network, whose purpose is to select activation levels for local regulators implemented as PD controllers. A systematic design method is developed and a stability analysis included to provide the necessary formalism. The controller is tested in simulation and a comparison is made with the relay-type control algorithm commonly used in industrial robots. A disturbance rejection test is also included
Keywords :
control system synthesis; fuzzy control; fuzzy neural nets; hierarchical systems; manipulators; multivariable control systems; neurocontrollers; tracking; two-term control; activation levels selection; control tracking problems; coordinator; disturbance rejection test; hierarchical fuzzy-neural-PD controller; multivariable hierarchical controller; relay-type control algorithm; robot manipulators; stability analysis; systematic design method; Control systems; Design methodology; Manipulators; PD control; Regulators; Relays; Robot control; Robot kinematics; Stability analysis; Testing;
Conference_Titel :
Fuzzy Systems, 1994. IEEE World Congress on Computational Intelligence., Proceedings of the Third IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-1896-X
DOI :
10.1109/FUZZY.1994.343653
