A fuzzy controller for a tentacle manipulator

Author

Ivanescu, Mircea ; Stoian, Viorel

Author_Institution

Autom. & Comput. Dept., Craiova Univ., Romania

Volume

1

fYear

1996

fDate

8-11 Sep 1996

Firstpage

19

Abstract

The paper presents a fuzzy controller for a tentacle arm, based on the viscosity control of the electrorheological fluid by an electrical field. The motion control is determined by a set of control rules of the fluid pressure and viscosity on the switching manifolds. The stability of the motion is proved and the conditions of the trajectory control on the switching manifolds are determined. The control procedure proposes the decomposition of the system in a finite number of lower dimension problems, each of them being treated as a fuzzy procedure control. The numerical simulations are presented

Keywords

electrorheology; flexible structures; fluid dynamics; fuzzy control; manipulator dynamics; motion control; pressure control; stability; viscosity; electrical field; electrorheological fluid; fluid pressure; fuzzy control; motion control; stability; switching manifolds; tentacle arm; tentacle manipulator; trajectory control; viscosity control; Arm; Automatic control; Control systems; Electrodes; Erbium; Fuzzy control; Motion control; Pressure control; Stability; Viscosity;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Systems, 1996., Proceedings of the Fifth IEEE International Conference on

Conference_Location

New Orleans, LA

Print_ISBN

0-7803-3645-3

Type

conf

DOI

10.1109/FUZZY.1996.551713

Filename

551713