Naslov
An Adaptive Fuzzy Robot Control without a Fuzzy Rule Base

Autori
Novaković, Branko ; Vranješ, Božo ; Novaković, Dario ; Majetić, Dubravko ; Kasać, Josip ; Brezak, Danko

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 15th Triennial World Congress of the International Federation of Automatic Control : IFAC-b'02 / Camacho, E.F. ; Basanez, L. ; De la Puente, J.A. - Barcelona : Pergamon ; Elsevier, 2002, 1226.1-1226.6

Skup
IFAC Triennial World Congress (15 ; 2002)

Mjesto i datum
Barcelona, Španjolska, 21.07.2002. - 26.07.2002

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Fuzzy systems; Fuzzy control; Adaptive algorithms; Adaptive control; Discrete-time systems; Robot control.

Sažetak
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

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo

POVEZANOST RADA