In this paper, a novel adaptive fuzzy control scheme is presented. The controller is constructed by using a table lookup scheme and self tuning techniques, which includes the identification block, the fuzzification,...In this paper, a novel adaptive fuzzy control scheme is presented. The controller is constructed by using a table lookup scheme and self tuning techniques, which includes the identification block, the fuzzification, the updating rule base, the defuzzification, and the crisp controller (sub controller), etc. The adaptive fuzzy controller is designed in detail by means of a triangular membership function and the center of gravity method. The control scheme addressed here is implemented to control the motion of the end effector of a two link constrained flexible manipulator. Computer simulation results show that the novel adaptive fuzzy control scheme works quite well.展开更多
文摘In this paper, a novel adaptive fuzzy control scheme is presented. The controller is constructed by using a table lookup scheme and self tuning techniques, which includes the identification block, the fuzzification, the updating rule base, the defuzzification, and the crisp controller (sub controller), etc. The adaptive fuzzy controller is designed in detail by means of a triangular membership function and the center of gravity method. The control scheme addressed here is implemented to control the motion of the end effector of a two link constrained flexible manipulator. Computer simulation results show that the novel adaptive fuzzy control scheme works quite well.
