Reduced Base Fuzzy Logic Controller for Robot Actuators

Abstract:

The paper proposes an innovative 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.

• Periodical: Applied Mechanics and Materials (Volume 555)
• Pages: 249-258
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.555.249
• Online since: June 2014
• Authors: Victor Vladareanu*, Paul Schiopu, Shuang Cang, Hong Nian Yu
• Keywords: Extenics Theory, Fuzzy Logic Controller, Mechatronic System, Real Time Control, Robotics

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