A Hierarchical Supervisory Fuzzy Controller for Robot Manipulators with Oscillatory Bases

Author(s):  
J. Lin ◽  
Z.-Z. Huang

2020 ◽  
Vol 53 (2) ◽  
pp. 9918-9923
Author(s):  
Andres O. Pizarro-Lerma ◽  
Victor Santibanez ◽  
Ramon Garcia-Hernandez ◽  
Jorge Villalobos Chin






2019 ◽  
Vol 20 (1) ◽  
pp. 185-204
Author(s):  
Yongqing Fan ◽  
Wenqing Wang ◽  
Xiangkui Jiang ◽  
Zhen Li

Abstract A decentralized adaptive control based on human linguistic is investigated to learn human behaviors for multiple robotic manipulators. Many experts’ words or sentences can be transferred into the control actions by employing membership functions in robot systems, which can be synthesized fuzzy controller by employing reasoning mechanism. For the unknown model dynamical robot manipulators, one adjustable parameter that relates to the approximation accuracy of fuzzy logic systems is introduced at first, which be utilized to deal with the unknown dynamics of robot manipulators. Switching fuzzy adaptive controller is designed to overcome the limitation of logic structure that the number of adaptive laws only focus on fuzzy rules in conventional fuzzy logic systems. Another advantage of this design method is that the control with human linguistic extend the semi-global stability to global stability. Finally, effectiveness of the developed control design scheme has been shown in simulation example.



Author(s):  
Dimitrios C. Theodoridis ◽  
Yiannis S. Boutalis ◽  
Manolis A. Christodoulou


Author(s):  
Basil M. Al-Hadithi ◽  
Fernando Matía ◽  
Agustín Jiménez


2012 ◽  
Vol 35 (6) ◽  
pp. 730-741 ◽  
Author(s):  
A Marwan ◽  
Nagi Farrukh ◽  
KSM Sahari ◽  
S Hanim


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