Computationally Efficient Adaptive Type-2 Fuzzy Control of Flexible-Joint ManipulatorsReport as inadecuate




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1

School of Electrical Engineering and Computer Science, University of Ottawa, 800 King Edward Avenue, Ottawa, ON K1N 6N5, Canada

2

School of Engineering, University of Guelph, Guelph, ON N1G 2W1, Canada





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Author to whom correspondence should be addressed.



Abstract 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. View Full-Text

Keywords: type-2 fuzzy control; uncertain systems; robot manipulators; flexible structures; adaptive control type-2 fuzzy control; uncertain systems; robot manipulators; flexible structures; adaptive control





Author: Hicham Chaoui 1, Wail Gueaieb 1,* , Mohammad Biglarbegian 2 and Mustapha C. E. Yagoub 1

Source: http://mdpi.com/



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