Naslov
An analytic approach to fuzzy robot control synthesis

Autori
Novaković, Branko ; Ščap, Dragutin ; Novaković, Dario

Izvornik
Engineering Applications of Artificial Intelligence (0952-1976) 13 (2000); 71 - 83

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
Analytic fuzzy control; robot control; control synthesis; discrete-time domain

Sažetak
The main advantage of a fuzzy control system is the fact that no mathematical model of the controlled plant is required. Instead of that model, it is necessery to construct a fuzzy rule base for each particular application case. A vexing problem in fuzzy control, however, 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 method for synthesising the fuzzy control. For this purpose a new 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 can be adapted to each concrete application case by changing the free fuzzy-set parameters. The proposed analytic approach to the synthesis of fuzzy control, has been tested by a numerical simulation of an analytic fuzzy control system for a robot with four degrees of freedom.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo

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