Quasi-decoupled fuzzy logic controller

Foster, G.T., Kambhampati, C. and Warwick, K. (1992) Quasi-decoupled fuzzy logic controller. In: Proceedings of the 1992 IEEE International Symposium on Intelligent Control. IEEE, pp. 366-371. ISBN 0780305469 doi: 10.1109/ISIC.1992.225117

Abstract/Summary

The authors describe the design of a fuzzy logic controller for the control of a planar two-link manipulator. The plant is quasi-decoupled with respect to gravity. Complete decoupling is not achieved due to the nonoptimal nature of the expert rules. The performance of the fuzzy controller is compared to that of the critically damped computed torque controller. Results are presented complete with robustness tests.