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Fuzzy-logic control of dynamic systems: From modeling to design
Department of Mechanical and Industrial Engineering, University of Toronto.
Department of Mechanical and Industrial Engineering, University of Toronto.
Department of Mechanical and Industrial Engineering, University of Toronto.ORCID iD: 0000-0003-4977-6339
2000 (English)In: Engineering applications of artificial intelligence, ISSN 0952-1976, E-ISSN 1873-6769, Vol. 13, no 1, p. 47-69Article in journal (Refereed) Published
Abstract [en]

A systematic methodology for the synthesis and analysis of fuzzy-logic controllers for multi-input multi-output nonlinear dynamic systems is proposed in this paper. A robust model-based control structure is suggested that includes the fuzzy-logic dynamics model of the system and several robust fuzzy control rules. The fuzzy-logic model is systematically constructed from the input-output data, and the robust control rules are designed using the sliding-mode control theory. The stability and completeness of the control structure is guaranteed, based on a generalized formulation of the sliding-mode control developed in this paper. The proposed fuzzy-logic control scheme has been applied to trajectory control of a four-degree-of-freedom robot manipulator, and was compared with high-gain PID controllers. Superior tracking performance was achieved.

Place, publisher, year, edition, pages
2000. Vol. 13, no 1, p. 47-69
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Onboard space systems
Identifiers
URN: urn:nbn:se:ltu:diva-11010DOI: 10.1016/S0952-1976(99)00031-7Scopus ID: 2-s2.0-0033879163Local ID: 9e74abee-187a-405b-a86b-bf75597114fbOAI: oai:DiVA.org:ltu-11010DiVA, id: diva2:983959
Note

Upprättat; 2000; 20141212 (ninhul)

Available from: 2016-09-29 Created: 2016-09-29 Last updated: 2019-08-19Bibliographically approved

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Emami, Reza

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