engleski

An analitic fuzzy logic robot control synthesis using a new profile of fuzzy sets

A new analytic fuzzy logic robot control without any rule base is proposed. For this purpose a new profile of fuzzy sets is employed, suitable for an analytic synthesis of a fuzzy logic robot control. The positions of centres of output fuzzy sets are introduced as analytic functions of input variables. It supports analytic procedures in a fuzzy logic control synthesis, and enables the elimination of a fuzzy rule base. On this way, the vexing problem in a fuzzy logic, referred to the exponential growth in rules as the number of variables increases, is solved. Besides, the control algorithm calculation time is cut down to the value that can be used in a real time control. The real capability of the proposed fuzzy logic robot control synthesis procedures is presented by application to a fuzzy logic control of a robot of RRTR - structure.

analitic fuzzy control; new profile of fuzzy sets; robot control; control synthesis; discrete-time domain

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