Real-Time On Line Tuning Of Fuzzy Controller for Two Link Rigid-Flexible Robot Manipulators

Provided by: WSEAS
Topic: Hardware
Format: PDF
In this paper, the authors propose a real time self-tuning MIMO Fuzzy Bang-Bang Controller (FBBC) to control two link rigid and flexible robot manipulators. Two link rigid and flexible robot manipulators are highly nonlinear plants. The fuzzy control is based on the Takagi-Sugeno's type architecture fuzzy model combined with online self-tuning so that both the desired transient and steady state responses can be achieved. The online self-tuning is based on the gradient steepest descent tuning method, which learns to tune the FBBC's inputs and outputs gains online.

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