DocumentCode
3384051
Title
Neuro-fuzzy modelling and control of cooperative manipulators handling a common object
Author
Rajasekharan, S. ; Kambhampati, C.
Author_Institution
Dept. of Comput. Sci., Hull Univ., UK
Volume
3
fYear
2001
fDate
25-28 July 2001
Firstpage
1454
Abstract
This paper presents a novel approach to controlling multiple manipulators handling a common object using a decomposed architecture that is composed of linguistic rules. A method is proposed here that separates the interconnections so that the resulting model of a link is decomposed into fuzzy IF-THEN rules. This model is then used to design a Lyapunov based fuzzy logic controller for the system by solving linear matrix equalities
Keywords
Lyapunov methods; control system synthesis; cooperative systems; fuzzy control; fuzzy neural nets; manipulators; matrix algebra; multi-robot systems; neurocontrollers; Lyapunov-based fuzzy logic controller design; cooperative manipulators; decomposed architecture; fuzzy IF-THEN rules; linear matrix equalities; linguistic rules; neuro-fuzzy control; neuro-fuzzy modelling; Centralized control; Computer architecture; Control systems; Equations; Fuzzy control; Manipulators; Master-slave; Multirobot systems; Robot kinematics; Transmission line matrix methods;
fLanguage
English
Publisher
ieee
Conference_Titel
IFSA World Congress and 20th NAFIPS International Conference, 2001. Joint 9th
Conference_Location
Vancouver, BC
Print_ISBN
0-7803-7078-3
Type
conf
DOI
10.1109/NAFIPS.2001.943763
Filename
943763
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