Title :
Multi-controllers approach with fuzzy local controllers. Real-time implementation for a wrist of a robot
Author :
Pages, O. ; Mouille, P. ; Caron, B.
Author_Institution :
Lab. d´Autom. et de Micro-Inf. Ind., Univ. of Savoie, Annecy, France
Abstract :
The goal of this paper is to present an approach of the multimodel control for a nonlinear system with a real-time implementation for a wrist of a robot. The objective of this method is to blend the control laws provided by several local controllers. The new idea is to have as a local controller, a fuzzy linearization with pole placement compensation. First, they are needed to be identified. We then use them for the multi-model control by applying a fuzzy switcher (Takagi Sugeno system).
Keywords :
compensation; fuzzy control; linearisation techniques; manipulators; nonlinear control systems; pole assignment; Takagi Sugeno system; control law; fuzzy linearization; fuzzy local controller; fuzzy switcher; multicontrollers approach; multimodel control; nonlinear system; pole placement compensation; real-time implementation; robot wrist; Fuzzy systems; Lead; Observers; Real-time systems; Robots; Switches; Fuzzy Systems; Mechatronic Systems; Multi-Controllers Approach; Process Control;
Conference_Titel :
Control Conference (ECC), 2001 European
Conference_Location :
Porto
Print_ISBN :
978-3-9524173-6-2
