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...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2013-05-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | http://www.mdpi.com/2218-6581/2/2/66 |
| _version_ | 1798002485889073152 |
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| author | Hicham Chaoui Wail Gueaieb Mohammad Biglarbegian Mustapha C. E. Yagoub |
| author_facet | Hicham Chaoui Wail Gueaieb Mohammad Biglarbegian Mustapha C. E. Yagoub |
| author_sort | Hicham Chaoui |
| collection | DOAJ |
| description | 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 between the manipulator’s and the actuators’ velocities. Furthermore, the control scheme is independent of the computationally expensive noisy torque and acceleration signals. The controller is validated through a set of numerical simulations and by comparing it against its type-1 counterpart. The ability of the adaptive type-2 FLC in coping with large magnitudes of uncertainties yields an improved performance. The stability of the proposed control system is guaranteed using Lyapunov stability theory. |
| first_indexed | 2024-04-11T11:52:57Z |
| format | Article |
| id | doaj.art-4df6959dc5674a888e77dedde75ed528 |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-04-11T11:52:57Z |
| publishDate | 2013-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-4df6959dc5674a888e77dedde75ed5282022-12-22T04:25:15ZengMDPI AGRobotics2218-65812013-05-0122669110.3390/robotics2020066Computationally Efficient Adaptive Type-2 Fuzzy Control of Flexible-Joint ManipulatorsHicham ChaouiWail GueaiebMohammad BiglarbegianMustapha C. E. YagoubIn 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 between the manipulator’s and the actuators’ velocities. Furthermore, the control scheme is independent of the computationally expensive noisy torque and acceleration signals. The controller is validated through a set of numerical simulations and by comparing it against its type-1 counterpart. The ability of the adaptive type-2 FLC in coping with large magnitudes of uncertainties yields an improved performance. The stability of the proposed control system is guaranteed using Lyapunov stability theory.http://www.mdpi.com/2218-6581/2/2/66type-2 fuzzy controluncertain systemsrobot manipulatorsflexible structuresadaptive control |
| spellingShingle | Hicham Chaoui Wail Gueaieb Mohammad Biglarbegian Mustapha C. E. Yagoub Computationally Efficient Adaptive Type-2 Fuzzy Control of Flexible-Joint Manipulators Robotics type-2 fuzzy control uncertain systems robot manipulators flexible structures adaptive control |
| title | Computationally Efficient Adaptive Type-2 Fuzzy Control of Flexible-Joint Manipulators |
| title_full | Computationally Efficient Adaptive Type-2 Fuzzy Control of Flexible-Joint Manipulators |
| title_fullStr | Computationally Efficient Adaptive Type-2 Fuzzy Control of Flexible-Joint Manipulators |
| title_full_unstemmed | Computationally Efficient Adaptive Type-2 Fuzzy Control of Flexible-Joint Manipulators |
| title_short | Computationally Efficient Adaptive Type-2 Fuzzy Control of Flexible-Joint Manipulators |
| title_sort | computationally efficient adaptive type 2 fuzzy control of flexible joint manipulators |
| topic | type-2 fuzzy control uncertain systems robot manipulators flexible structures adaptive control |
| url | http://www.mdpi.com/2218-6581/2/2/66 |
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