A New Type-II Fuzzy Logic Based Controller for Non-linear Dynamical Systems with Application to a 3-PSP Parallel Robot

12/05/2016
by   Hamid Reza Hassanzadeh, et al.
0

The concept of uncertainty is posed in almost any complex system including parallel robots as an outstanding instance of dynamical robotics systems. As suggested by the name, uncertainty, is some missing information that is beyond the knowledge of human thus we may tend to handle it properly to minimize the side-effects through the control process. Type-II fuzzy logic has shown its superiority over traditional fuzzy logic when dealing with uncertainty. Type-II fuzzy logic controllers are however newer and more promising approaches that have been recently applied to various fields due to their significant contribution especially when noise (as an important instance of uncertainty) emerges. During the design of Type-I fuzzy logic systems, we presume that we are almost certain about the fuzzy membership functions which is not true in many cases. Thus T2FLS as a more realistic approach dealing with practical applications might have a lot to offer. Type-II fuzzy logic takes into account a higher level of uncertainty, in other words, the membership grade for a type-II fuzzy variable is no longer a crisp number but rather is itself a type-I linguistic term. In this thesis the effects of uncertainty in dynamic control of a parallel robot is considered. More specifically, it is intended to incorporate the Type-II Fuzzy Logic paradigm into a model based controller, the so-called computed torque control method, and apply the result to a 3 degrees of freedom parallel manipulator. ...

READ FULL TEXT

page 1

page 2

page 3

page 4

research
07/03/2013

A Comparison of Non-stationary, Type-2 and Dual Surface Fuzzy Control

Type-1 fuzzy logic has frequently been used in control systems. However ...
research
02/26/2020

Type-2 Fuzzy Set based Hesitant Fuzzy Linguistic Term Sets for Linguistic Decision Making

Approaches based on computing with words find good applicability in deci...
research
12/20/2019

A Model-Based Fuzzy Analysis of Questionnaires

In dealing with veracity of data analytics, fuzzy methods are more and m...
research
07/04/2013

An investigation into the relationship between type-2 FOU size and environmental uncertainty in robotic control

It has been suggested that, when faced with large amounts of uncertainty...
research
08/23/2013

Performance Measurement Under Increasing Environmental Uncertainty In The Context of Interval Type-2 Fuzzy Logic Based Robotic Sailing

Performance measurement of robotic controllers based on fuzzy logic, ope...
research
11/09/2021

Designing and Analyzing the PID and Fuzzy Control System for an Inverted Pendulum

The inverted pendulum is a non-linear unbalanced system that needs to be...
research
07/26/2014

Data granulation by the principles of uncertainty

Researches in granular modeling produced a variety of mathematical model...

Please sign up or login with your details

Forgot password? Click here to reset