Title :
Genetic design of computed torque/fuzzy-logic controllers for robotic manipulators
Author :
Porter, B. ; Zadeh, N.N.
Author_Institution :
Intelligent Machinery Div., Salford Univ., UK
Abstract :
In this paper, a new class of computed-torque/fuzzy-logic controllers is introduced and designed using genetic algorithms. It is demonstrated that these computed-torque/fuzzy-logic controllers are more robust than computed-torque/proportional-plus-derivative controllers
Keywords :
control system synthesis; fuzzy control; genetic algorithms; manipulators; robust control; torque control; computed-torque/fuzzy-logic controllers; genetic algorithms; robotic manipulators; robustness; Differential equations; Error correction; Genetics; Manipulator dynamics; Nonlinear equations; Proportional control; Robot control; Robust control; Torque control; Vectors;
Conference_Titel :
Intelligent Control, 1995., Proceedings of the 1995 IEEE International Symposium on
Conference_Location :
Monterey, CA
Print_ISBN :
0-7803-2722-5
DOI :
10.1109/ISIC.1995.525054
