Parameters optimization of analytic fuzzy controllers for robot manipulators (CROSBI ID 31146)
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Podaci o odgovornosti
Kasać, Josip ; Novaković, Branko ; Majetić, Dubravko ; Brezak, Danko
engleski
Parameters optimization of analytic fuzzy controllers for robot manipulators
An open question in fuzzy logic control of robot manipulators is how to modify the fuzzy controller parameters to guarantee appropriate performance specifications. In this paper a new approach to performance tuning of analytic fuzzy controllers for robot manipulators is presented. The analytic fuzzy control is a nonconventional approach that uses an analytic function for output determination, instead of a fuzzy rule base. The proposed approach is based on construction of a parameter dependent Lyapunov function. With the appropriate choice of the free parameter an estimation of integral performance index is obtained. The estimated performance index depends on controller parameters and few parameters which characterize the robot dynamics. The optimal values of the controller gains are obtained by minimization of the performance index. An example is given to demonstrate the obtained results.
parameters optimization, fuzzy control, robot control, performance evaluation, global stability, Lyapunov stability
Poglavlje u knjizi objavljeno je u WIT Transactions on The Built Environment, vol. 80 (ISSN: 1743-3509).
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Podaci o prilogu
10-x.
objavljeno
Podaci o knjizi
Computer Aided Optimum Design in Engineering IX
S. Hernandez, C.A. Brebbia
Southampton: Wessex Institute of Technology Press
2005.
1-84564-016-0