TY - GEN
T1 - Reduced base fuzzy logic controller for robot actuators
AU - Vladareanu, Victor
AU - Schiopu, Paul
AU - Cang, Shuang
AU - Yu, Hong Nian
PY - 2014/6
Y1 - 2014/6
N2 - 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.
AB - 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.
KW - Extenics theory
KW - Fuzzy logic controller
KW - Mechatronics systems
KW - Real time control
KW - Robotics
UR - https://www.scopus.com/pages/publications/84904353966
U2 - 10.4028/www.scientific.net/AMM.555.249
DO - 10.4028/www.scientific.net/AMM.555.249
M3 - Conference contribution
AN - SCOPUS:84904353966
SN - 9783038351115
T3 - Applied Mechanics and Materials
SP - 249
EP - 258
BT - Modeling and Optimization of the Aerospace, Robotics, Mechatronics, Machines-Tools, Mechanical Engineering and Human Motricity Fields, OPTIROB 2014
PB - Trans Tech Publications
T2 - 9th International Conference on Modeling and Optimization of the Aerospace, Robotics, Mechatronics, Machines-Tools, Mechanical Engineering and Human Motricity Fields, OPTIROB 2014
Y2 - 26 June 2014 through 29 June 2014
ER -