Controlling Flexible Joint Robot using Feedback Error Learning based Hierarchical Fuzzy Control
محل انتشار: چهاردهمین کنفرانس سیستم های فازی ایران
سال انتشار: 1394
نوع سند: مقاله کنفرانسی
زبان: انگلیسی
مشاهده: 563
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شناسه ملی سند علمی:
ICFUZZYS14_060
تاریخ نمایه سازی: 21 اردیبهشت 1397
چکیده مقاله:
In this study, a novel adaptive hierarchical fuzzy controller based on feedback error learning is presented. The proposed hierarchical fuzzy controller not only is able to reduce the number of rules with respect to ordinary fuzzy controller but also achieve an efficient and accurate control. Feedback error learning is used to tune all the parameters of conclusion parts of fuzzy blocks located in different layers of hierarchical fuzzy controller and therefore, reducing the approximation error and improving control performance. Conventional feedback control in feedback error learning strategy is considered as sliding mode controller. The result of proposed controller is compared with the sliding mode controller. The consequences of simulation reveals the efficiency of suggested controller especially in presence of disturbance for controlling of flexible joint robot.
کلیدواژه ها:
Adaptive control ، Feedback error learning ، Hierarchical fuzzy controller ، Sliding mode control and Flexible joint robot
نویسندگان
Mohammad Mansouri
Ph. D. Student, Intelligent System Laboratory (ISLAB), Electrical and Computer engineering department, K.N. Toosi university, Tehran, Iran,
Mohammad Teshnehlab
Academic member, Industrial Control Center of Excellence, Faculty of Electrical and Computer Engineering, K.N. Toosi university, Tehran, Iran,