Reduced base fuzzy logic controller for robot actuators

Victor Vladareanu*, Paul Schiopu, Shuang Cang, Hong Nian Yu

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

6 Citations (Scopus)

Abstract

The paper proposes a new type of fuzzy logic controller for robot actuators, building upon the current state of the art fuzzy architectures and various observations from work with Fuzzy Logic and Extenics Theory. This leads to a modified fuzzy controller, with a significantly simpler rule base, which shows comparable results. The effect is achieved by taking advantage of the rule base makeup of a regular linear fuzzy controller. Some slight modification is needed to the controller architecture, which is explained in detail. The rationality and validity of the proposed model are demonstrated through simulation in the Matlab/Simulink environment. The results show that the proposed new controller architecture obtains remarkable results, while having the advantage of increased simplicity in design and setting of parameters. Throughout the paper, opportunities for further improvement and research are highlighted and discussed.

Original languageEnglish
Title of host publicationModeling and Optimization of the Aerospace, Robotics, Mechatronics, Machines-Tools, Mechanical Engineering and Human Motricity Fields, OPTIROB 2014
PublisherTrans Tech Publications
Pages249-258
Number of pages10
ISBN (Print)9783038351115
DOIs
Publication statusPublished - Jun 2014
Event9th International Conference on Modeling and Optimization of the Aerospace, Robotics, Mechatronics, Machines-Tools, Mechanical Engineering and Human Motricity Fields, OPTIROB 2014 - Mangalia, Romania
Duration: 26 Jun 201429 Jun 2014

Publication series

NameApplied Mechanics and Materials
Volume555
ISSN (Print)1660-9336
ISSN (Electronic)1662-7482

Conference

Conference9th International Conference on Modeling and Optimization of the Aerospace, Robotics, Mechatronics, Machines-Tools, Mechanical Engineering and Human Motricity Fields, OPTIROB 2014
CountryRomania
CityMangalia
Period26/06/1429/06/14

Fingerprint

Dive into the research topics of 'Reduced base fuzzy logic controller for robot actuators'. Together they form a unique fingerprint.

Cite this