Reduced Base Fuzzy Logic Controller for Robot Actuators

Vladareanu, Victor, Schiopu, Paul, Cang, Shuang and Yu, Hong Nian (2014) Reduced Base Fuzzy Logic Controller for Robot Actuators. Applied Mechanics and Materials, 555. pp. 249-258. ISSN 1662-7482

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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.

Item Type:	Article
Uncontrolled Keywords:	Extenics Theory, Fuzzy Logic Controller, Mechatronic System, Real Time Control, Robotics
Subjects:	H900 Others in Engineering
Department:	Faculties > Business and Law > Newcastle Business School
Depositing User:	Becky Skoyles
Date Deposited:	12 Dec 2018 15:37
Last Modified:	19 Nov 2019 09:50
URI:	http://nrl.northumbria.ac.uk/id/eprint/37216

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