Computationally Efficient Adaptive Type-2 Fuzzy Control of Flexible-Joint Manipulators

Computationally Efficient Adaptive Type-2 Fuzzy Control of Flexible-Joint Manipulators

In this paper, we introduce an adaptive type-2 fuzzy logic controller (FLC) for flexible-joint manipulators with structured and unstructured dynamical uncertainties. Simplified interval fuzzy sets are used for real-time efficiency, and internal stability is enhanced by adopting a trade-off strategy...

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Bibliographic Details
Main Authors: Hicham Chaoui, Wail Gueaieb, Mohammad Biglarbegian, Mustapha C. E. Yagoub
Format: Article
Language:English
Published: MDPI AG 2013-05-01
Series:Robotics
Subjects:
type-2 fuzzy control
uncertain systems
robot manipulators
flexible structures
adaptive control
Online Access:http://www.mdpi.com/2218-6581/2/2/66

Internet

http://www.mdpi.com/2218-6581/2/2/66

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