Naslov
Parameters optimization of analytic fuzzy controllers for robot manipulators

Autori
Kasać, Josip ; Novaković, Branko ; Majetić, Dubravko ; Brezak, Danko

Vrsta, podvrsta i kategorija rada
Poglavlja u knjigama, znanstveni

Knjiga
Computer Aided Optimum Design in Engineering IX

Urednik/ci
S. Hernandez, C.A. Brebbia

Izdavač
Wessex Institute of Technology Press

Grad
Southampton

Godina
2005

Raspon stranica

ISBN
1-84564-016-0

Ključne riječi
parameters optimization, fuzzy control, robot control, performance evaluation, global stability, Lyapunov stability

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo

Napomena
Poglavlje u knjizi objavljeno je u WIT Transactions on The Built Environment, vol. 80 (ISSN: 1743-3509).

POVEZANOST RADA