Heuristic design of a fuzzy controller for a flexible robot

Author

Green, Anthony ; Sasiadek, Jurek Z.

Author_Institution

Mech. & Aerosp. Eng. Dept., Carleton Univ., Ottawa, Ont.

Volume

14

Issue

2

fYear

2006

fDate

3/1/2006 12:00:00 AM

Firstpage

293

Lastpage

300

Abstract

A ratio is identified as a heuristic to assist in designing fuzzy logic system (FLS) controllers with a low number of membership functions (MFs), high tracking precision, and fast execution time for the control of a two-link flexible space robot. Comparing simulation results for an FLS with three, five, seven, and nine triangular and Gaussian membership functions provides a combination of type and number of MF for optimal tracking control and execution time. Optimal control occurs when the ratio of the FLS output scaling gain to the number of MFs is equal to the output variable universe of discourse. The optimal FLS design is chosen with three triangular membership functions at an output scaling gain of 15, giving a design ratio of five and execution time of 1 min 40 s while tracking a square trajectory

Keywords

aerospace robotics; control system synthesis; end effectors; flexible manipulators; fuzzy control; manipulator dynamics; optimal control; Gaussian membership functions; adaptive control; fuzzy controller; fuzzy logic system; heuristic design; optimal tracking control; triangular membership functions; two-link flexible space robot; Adaptive control; Aerodynamics; Control systems; Fuzzy control; Fuzzy logic; Orbital robotics; Programmable control; Robots; Trajectory; Vibration control; Adaptive control; flexible robot dynamics; fuzzy logic;

fLanguage

English

Journal_Title

Control Systems Technology, IEEE Transactions on

Publisher

ieee

ISSN

1063-6536

Type

jour

DOI

10.1109/TCST.2005.860517

Filename

1597200