Title :
Quasi-decoupled fuzzy logic controller
Author :
Foster, G.T. ; Kambhampati, C. ; Warwick, K.
Author_Institution :
Dept. of Cybern., Reading Univ., UK
Abstract :
The authors describe the design of a fuzzy logic controller for the control of a planar two-link manipulator. The plant is quasi-decoupled with respect to gravity. Complete decoupling is not achieved due to the nonoptimal nature of the expert rules. The performance of the fuzzy controller is compared to that of the critically damped computed torque controller. Results are presented complete with robustness tests
Keywords :
control system synthesis; fuzzy control; fuzzy logic; manipulators; torque control; expert rules; intelligent control; planar two-link manipulator; quasi-decoupled fuzzy logic controller; robustness; torque controller; Control theory; Fuzzy control; Fuzzy logic; Fuzzy sets; Gravity; Manipulator dynamics; Mathematical model; Robust control; Testing; Torque control;
Conference_Titel :
Intelligent Control, 1992., Proceedings of the 1992 IEEE International Symposium on
Conference_Location :
Glasgow
Print_ISBN :
0-7803-0546-9
DOI :
10.1109/ISIC.1992.225117
