Tuning of Distributed Fuzzy Logic Controller for a Flexible-Link Robot

摘要

Abstract Fuzzy control has emerged as a practical alternative to conventional controllers due to its computational efficiency and robustness. It has been already implemented successfully in many applications. Several questions, concerning fuzzy control, remain however unanswered. For example, design of fuzzy controllers usually depends on intuition and experience, which may work well only if there is a sufficient level of familiarity with the system and if plant parameters remain fixed. Fuzzy controller for flexible robots does not fit well within this category. While the rules for such controllers may be intuitive, selecting the ranges of the membership functions for the robot’s input and output variables can be challenging. Wrong choices may lead to sluggish response, excessive vibration, or instability. In this paper, a dynamic model for a single-link flexible robot using finite element method is presented. Distributed Fuzzy logic controllers are used to control angle and link vibrations of this robot. A computationally efficient approach for tuning these functions to improve its performance is proposed.