Department of Mechatronics Engineering, Kocaeli University, Kocaeli, Turkey.
ISA Trans. 2019 Nov;94:218-233. doi: 10.1016/j.isatra.2019.04.001. Epub 2019 Apr 9.
This study presents the development of a novel interval type-2 fuzzy logic controller for real time trajectory and vibration control of a flexible joint manipulator. The controller is designed on the Mamdani based interval type-2 fuzzy logic toolbox, which is developed by the authors, using interval triangular membership functions and Karnik-Mendel type reduction algorithm. The closed-loop stability of the system is proved based on Lyapunov stability theorem. In order to observe the effectiveness and robustness of the proposed controller to variations of system parameters (change in link length and payload), the experimental results of interval type-2 and conventional type-1 fuzzy logic controllers are compared. The results show that proposed controller clearly improves the link vibration and trajectory tracking behavior of the system.
本研究提出了一种新型的区间型 2 模糊逻辑控制器，用于实时轨迹和柔性关节机械手的振动控制。该控制器是基于作者开发的基于 Mamdani 的区间型 2 模糊逻辑工具箱设计的，使用区间三角隶属函数和 Karnik-Mendel 类型约简算法。系统的闭环稳定性基于 Lyapunov 稳定性定理得到证明。为了观察到所提出的控制器对系统参数变化（连杆长度和有效负载变化）的有效性和鲁棒性，比较了区间型 2 和传统型 1 模糊逻辑控制器的实验结果。结果表明，所提出的控制器明显改善了系统的连杆振动和轨迹跟踪性能。
