An Adaptive Fuzzy Robot Control without a Fuzzy Rule Base (CROSBI ID 485798)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Novaković, Branko ; Vranješ, Božo ; Novaković, Dario ; Majetić, Dubravko ; Kasać, Josip ; Brezak, Danko
engleski
An Adaptive Fuzzy Robot Control without a Fuzzy Rule Base
A vexing problem in a conventional fuzzy control is the exponential growth in rules as the number of variables increases. This problem is avoided here by the introduction of a new, nonconventional analytic adaptive method for synthesising the fuzzy robot control. For this purpose a new adaptive analytic function is defined that determines the positions of the centres of the output fuzzy sets, instead of the definition of a fuzzy rule base. This function is adapted by chaning the free fuzzy-set parameters. The proposed analytic approach to the synthesis of an adaptive fuzzy logic control, has been tested by a numerical simulation of an analytic adaptive fuzzy control system for a robot with four degrees of freedom. Copiright ă 2002 IFAC
Fuzzy systems; Fuzzy control; Adaptive algorithms; Adaptive control; Discrete-time systems; Robot control.
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Podaci o prilogu
1226.1-1226.6.
2002.
objavljeno
Podaci o matičnoj publikaciji
Camacho, E.F. ; Basanez, L. ; De la Puente, J.A.
Barcelona: Pergamon ; Elsevier
Podaci o skupu
IFAC Triennial World Congress (15 ; 2002)
predavanje
21.07.2002-26.07.2002
Barcelona, Španjolska