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Article published In: Human Robot Collaborative Intelligence: Theory and applications
Edited by Chenguang Yang, Xiaofeng Liu, Junpei Zhong and Angelo Cangelosi
[Interaction Studies 20:1] 2019
► pp. 185–204

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Decentralized fuzzy linguistic control of multiple robotic manipulators with guaranteed global stability

 | Xi’an University of Posts and Telecommunications
 | Xi’an University of Posts and Telecommunications
 | Xi’an University of Posts and Telecommunications
 | Xi’an University of Posts and Telecommunications
Published online: 15 July 2019
DOI logo with link
https://doi.org/10.1075/is.18008.fan
Abstract
A decentralized adaptive control based on human linguistic is investigated to learn human behaviors for multiple robotic manipulators. Many experts’ words or sentences can be transferred into the control actions by employing membership functions in robot systems, which can be synthesized fuzzy controller by employing reasoning mechanism. For the unknown model dynamical robot manipulators, one adjustable parameter that relates to the approximation accuracy of fuzzy logic systems is introduced at first, which be utilized to deal with the unknown dynamics of robot manipulators. Switching fuzzy adaptive controller is designed to overcome the limitation of logic structure that the number of adaptive laws only focus on fuzzy rules in conventional fuzzy logic systems. Another advantage of this design method is that the control with human linguistic extend the semi-global stability to global stability. Finally, effectiveness of the developed control design scheme has been shown in simulation example.
Article outline
  • I.Introduction
  • II.System descriptions
  • III.Descriptions of fuzzy logic systems
  • IV.Design decentralized fuzzy adaptive control
  • V.Simulation example
  • VI.Conclusions
  • References
References (45)
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