DocumentCode
3223063
Title
Quasi-decoupled fuzzy logic controller
Author
Foster, G.T. ; Kambhampati, C. ; Warwick, K.
Author_Institution
Dept. of Cybern., Reading Univ., UK
fYear
1992
fDate
11-13 Aug 1992
Firstpage
366
Lastpage
371
Abstract
The authors describe the design of a fuzzy logic controller for the control of a planar two-link manipulator. The plant is quasi-decoupled with respect to gravity. Complete decoupling is not achieved due to the nonoptimal nature of the expert rules. The performance of the fuzzy controller is compared to that of the critically damped computed torque controller. Results are presented complete with robustness tests
Keywords
control system synthesis; fuzzy control; fuzzy logic; manipulators; torque control; expert rules; intelligent control; planar two-link manipulator; quasi-decoupled fuzzy logic controller; robustness; torque controller; Control theory; Fuzzy control; Fuzzy logic; Fuzzy sets; Gravity; Manipulator dynamics; Mathematical model; Robust control; Testing; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control, 1992., Proceedings of the 1992 IEEE International Symposium on
Conference_Location
Glasgow
ISSN
2158-9860
Print_ISBN
0-7803-0546-9
Type
conf
DOI
10.1109/ISIC.1992.225117
Filename
225117
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