Stability indices for a self-organizing fuzzy controlled robot: A case study

Authors:
Jeen Lin;Ruey-Jing Lian
Affiliations:
Department of Mechanical Engineering, National Taipei University of Technology, No. 1, Sec. 3, Jhongsiao E. Rd., Taipei City 10608, Taiwan;Department of Management and Information Technology, Vanung University, No. 1, Wanneng Rd., Jhongli City, Toayuan County 32061, Taiwan
Venue:
Engineering Applications of Artificial Intelligence
Year:
2010

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Abstract

This study developed a model-free self-organizing fuzzy controller (SOFC) for manipulating multiple-input multiple-output systems. The SOFC has an online learning algorithm that can continually update fuzzy rules during the control process, beginning from an empty rule table. The SOFC was used to control a three-link robot with a complex dynamic model in order to evaluate its applicability. Stability and robustness of the SOFC were demonstrated using a state-space approach. Simulation results confirmed that the control performance of the SOFC outperforms that of the fuzzy logic controller for the control of the robot.