Title :
Neuro-fuzzy modelling and control of cooperative manipulators handling a common object
Author :
Rajasekharan, S. ; Kambhampati, C.
Author_Institution :
Dept. of Comput. Sci., Hull Univ., UK
Abstract :
This paper presents a novel approach to controlling multiple manipulators handling a common object using a decomposed architecture that is composed of linguistic rules. A method is proposed here that separates the interconnections so that the resulting model of a link is decomposed into fuzzy IF-THEN rules. This model is then used to design a Lyapunov based fuzzy logic controller for the system by solving linear matrix equalities
Keywords :
Lyapunov methods; control system synthesis; cooperative systems; fuzzy control; fuzzy neural nets; manipulators; matrix algebra; multi-robot systems; neurocontrollers; Lyapunov-based fuzzy logic controller design; cooperative manipulators; decomposed architecture; fuzzy IF-THEN rules; linear matrix equalities; linguistic rules; neuro-fuzzy control; neuro-fuzzy modelling; Centralized control; Computer architecture; Control systems; Equations; Fuzzy control; Manipulators; Master-slave; Multirobot systems; Robot kinematics; Transmission line matrix methods;
Conference_Titel :
IFSA World Congress and 20th NAFIPS International Conference, 2001. Joint 9th
Conference_Location :
Vancouver, BC
Print_ISBN :
0-7803-7078-3
DOI :
10.1109/NAFIPS.2001.943763
