A robust fuzzy controller for multiple tentacle cooperative robots

Author

Ivanescu, Mircea ; Bizdoaca, Nicu

Author_Institution

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

Volume

2

fYear

1999

fDate

1999

Firstpage

1495

Abstract

A robust control system is proposed to solve the local control for a multi-chain robotic system formed by tentacle manipulators grasping a common object with hard point contacts. The two-level hierarchical control is adopted. The upper level coordinator gathers all the necessary information to resolve the distribution force. Then, the lower-level local control problem is treated as an open-chain redundant manipulator control problem. The stability and robustness of a class of the fuzzy logic control (FLC) are investigated and a robust FLC is proposed with uncertainties of the load. The fuzzy rules are established. Simulation results are presented and discussed

Keywords

cooperative systems; fuzzy control; hierarchical systems; multi-robot systems; redundant manipulators; robust control; fuzzy control; hierarchical control; multiple robot system; redundant manipulator; robust control; stability; tentacle cooperative robots; Automatic control; Control systems; Fuzzy control; Manipulators; Robot kinematics; Robotics and automation; Robust control; Robust stability; Sliding mode control; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on

Conference_Location

Detroit, MI

ISSN

1050-4729

Print_ISBN

0-7803-5180-0

Type

conf

DOI

10.1109/ROBOT.1999.772571

Filename

772571