Title :
A fuzzy controller for a tentacle manipulator
Author :
Ivanescu, Mircea ; Stoian, Viorel
Author_Institution :
Autom. & Comput. Dept., Craiova Univ., Romania
Abstract :
The paper presents a fuzzy controller for a tentacle arm, based on the viscosity control of the electrorheological fluid by an electrical field. The motion control is determined by a set of control rules of the fluid pressure and viscosity on the switching manifolds. The stability of the motion is proved and the conditions of the trajectory control on the switching manifolds are determined. The control procedure proposes the decomposition of the system in a finite number of lower dimension problems, each of them being treated as a fuzzy procedure control. The numerical simulations are presented
Keywords :
electrorheology; flexible structures; fluid dynamics; fuzzy control; manipulator dynamics; motion control; pressure control; stability; viscosity; electrical field; electrorheological fluid; fluid pressure; fuzzy control; motion control; stability; switching manifolds; tentacle arm; tentacle manipulator; trajectory control; viscosity control; Arm; Automatic control; Control systems; Electrodes; Erbium; Fuzzy control; Motion control; Pressure control; Stability; Viscosity;
Conference_Titel :
Fuzzy Systems, 1996., Proceedings of the Fifth IEEE International Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-3645-3
DOI :
10.1109/FUZZY.1996.551713
