In solving a number of complex manipulation tasks it is expedient to apply fuzzy logic, simulating human-operator experience. Such tasks could include, in particular, control of large space-borne manipulators and also ground-based manipulator systems, used in construction industry, in rectification of the consequences of accidents and disasters. Sliding type of control method with use of fuzzy logic is a combination of fuzzy control and control in sliding mode. In comparison with direct application of fuzzy logic methods, its application have the advantage that a number of conduction rules decrease since input varailable determines just one condition – system state proximity to the sliding surface. In these conditions control rules are independent of mathematical model of object.
Control algorithm implemented with fuzzy controller is disscussed. Efficiency of this algorithm is shown by the example of two-link manipulator control with account of its construction dynamics. Method provides the system's stability to the parametric disturbances. In such case fuzzy logic applying allows to overcome vibrations connected with changeovers in the neighborhood of the sliding surface. Discussed control approach can find application in manipulator control with critical joints dynamic coupling and with considerable parametric disturbances.
Manipulator, fuzzy control, sliding mode, fuzzy controller, stability conditions.
Year 2015 Issue number 2 Consecutive issue number 7 Pages 66-70
UDC identifier: 621.865.8-5