A hierarchical fuzzy-neural-PD controller for robot manipulators

Author

Rueda, A. ; Pedrycz, W.

Author_Institution

Dept. of Electr. & Comput. Eng., Manitoba Univ., Winnipeg, Man., Canada

fYear

1994

fDate

26-29 Jun 1994

Firstpage

673

Abstract

An original multivariable hierarchical controller for N degrees-of-freedom robot manipulators for control tracking problems is presented in this paper. The system is composed of a coordinator implemented as a fuzzy-neural network, whose purpose is to select activation levels for local regulators implemented as PD controllers. A systematic design method is developed and a stability analysis included to provide the necessary formalism. The controller is tested in simulation and a comparison is made with the relay-type control algorithm commonly used in industrial robots. A disturbance rejection test is also included

Keywords

control system synthesis; fuzzy control; fuzzy neural nets; hierarchical systems; manipulators; multivariable control systems; neurocontrollers; tracking; two-term control; activation levels selection; control tracking problems; coordinator; disturbance rejection test; hierarchical fuzzy-neural-PD controller; multivariable hierarchical controller; relay-type control algorithm; robot manipulators; stability analysis; systematic design method; Control systems; Design methodology; Manipulators; PD control; Regulators; Relays; Robot control; Robot kinematics; Stability analysis; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Systems, 1994. IEEE World Congress on Computational Intelligence., Proceedings of the Third IEEE Conference on

Conference_Location

Orlando, FL

Print_ISBN

0-7803-1896-X

Type

conf

DOI

10.1109/FUZZY.1994.343653

Filename

343653