β Scribed by Abdollah Homaifar; Bijan Sayyarrodsari; John E. Hogans IV
No coin nor oath required. For personal study only.
Reports on successful applications of fuzzy logic controllers (FLCs) are no longer rare. Regardless of the application domain, the main idea is to convert a linguistic control scenario into an automatic control strategy. The expert's knowledge is the backbone of this linguistic control strategy. FLCs have had their most successful implementations where the process under control is too complex for analysis by conventional quantitative methods and, therefore, conventional controllers face serious shortcomings. This paper proposes a "hybrid" implementation of FLCs and conventional PID controllers that can be helpful in some applications. The proposed method is applied to a 2 degree of freedom robot arm with promising results.
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In this paper, a new robust control law is presented for robot manipulators subjected to uncertainties. Stability of the system is established by the Lyapunov function, and a control law that guaranteed the system stability is derived as a result of analytical solution. Apart from previous studies,
Hierarchical approaches and methodologies are commonly used for control system design and synthesis. Well-known model-based techniques are often applied to solve problems of complex and large-scale control systems. The general philosophy of decomposing control problems into modular and more manageab