A two level hierarchical fuzzy controller for hyper-redundant cooperative robots

Author

Ivanescu, Mircea ; Bizdoaca, Nicu

Author_Institution

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

Volume

4

fYear

2000

fDate

2000

Firstpage

3170

Abstract

A hierarchical fuzzy controller with two levels is proposed to solve the control for a multi-chain robotic system formed by tentacle manipulators grasping a common object with hard point contacts. The control system contains two parts: the first component is a conventional controller which implements a control strategy based on the Lyapunov stability, and the second one is an adaptive fuzzy controller which adjusts the control parameters by the output of the first level controller. The stability and robustness is investigated and the fuzzy rules are established. Simulation results are presented and discussed

Keywords

Lyapunov methods; cooperative systems; fuzzy control; hierarchical systems; redundant manipulators; stability; variable structure systems; Lyapunov stability; hierarchical fuzzy control; hyper-redundant cooperative robots; multichain robotic system; object grasping; robustness; sliding mode control; Automatic control; Control systems; Fuzzy control; Fuzzy systems; Manipulator dynamics; Robot kinematics; Robotics and automation; Robust stability; Sliding mode control; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on

Conference_Location

San Francisco, CA

ISSN

1050-4729

Print_ISBN

0-7803-5886-4

Type

conf

DOI

10.1109/ROBOT.2000.845151

Filename

845151