Title :
Intelligent control of a direct-drive robot using multi-stage fuzzy logic
Author :
Adams, James M. ; Rattan, Kuldip S.
Author_Institution :
Dept. of Electr. Eng., Wright State Univ., Dayton, OH, USA
Abstract :
A multi-stage Fuzzy Logic Controller (FLC) is developed for a 2-link, direct-drive robot. The multi-stage controller intelligently blends proportional-plus-derivative control with integral control for rapid response and zero steady-state error. The robot model includes a computed-torque control scheme based on ideal robot parameters. The multi-stage controller provides superior tracking over conventional PID control with and without plant parameter variations
Keywords :
fuzzy control; intelligent control; robots; three-term control; torque control; two-term control; 2-link robot; computed-torque control scheme; direct-drive robot; fuzzy PID controller; integral control; intelligent control; multi-stage fuzzy logic controller; proportional-plus-derivative control; rapid response; zero steady-state error; Error correction; Fuzzy control; Fuzzy logic; Intelligent control; Intelligent robots; Pi control; Proportional control; Robot control; Steady-state; Three-term control;
Conference_Titel :
Circuits and Systems, 2001. MWSCAS 2001. Proceedings of the 44th IEEE 2001 Midwest Symposium on
Conference_Location :
Dayton, OH
Print_ISBN :
0-7803-7150-X
DOI :
10.1109/MWSCAS.2001.986249
