A Fuzzy Based Model Coordination for Two-Level Optimal Control of Robot Manipulators

In this paper, a new fuzzy based Model Coordination (F-MC) strategy is proposed for hierarchical control of large-scale systems (LSS). To solve the overall problem with a two-level optimal control strategy, we first decompose the system into several sub-systems at the first level. Then, at the second level, a fuzzy coordinator will be used to predict the interaction between subsystems. The proposed fuzzy based coordination approach is applicable to all types of LSS. Although in this paper, an optimal control of a 2DOF robot manipulator, as a LSS, will be considered. The obtained results are compared with the centralized optimization.