Hybrid velocity switching and fuzzy logic control scheme for cable tunnel inspection robot

Hybrid velocity switching and fuzzy logic control scheme for cable tunnel inspection robot

This paper describes a hybrid anti-swing control scheme of an inspection robot in tunnels for power transmission cables. The hybrid control scheme consists of velocity switching and fuzzy logic control, so that the robot can be operated smoothly without causing excessive swings in acceleration or deceleration motion. In order to ensure control system robustness for greatest movement in the tunn...

Switching fuzzy modelling and control scheme using T-S fuzzy systems with nonlinear consequent parts

This paper extends the idea of switching T-S fuzzy systems with linear consequent parts to nonlinear ones. Each nonlinear subsystem is exactly represented by a T-S fuzzy system with Lure’ type consequent parts, which allows to model and control wider classes of switching systems and also reduce the computation burden of control synthesis. With the use of a switching fuzzy Lyapunov function, the...

Autonomous robot obstacle avoidance using a fuzzy logic control scheme

Variable Impedance Control for Rehabilitation Robot using Interval Type-2 Fuzzy Logic

In this study, a novel variable impedance control for a lower-limb rehabilitation robotic system using voltage control strategy is presented. The majority of existing control approaches are based on control torque strategy, which require the knowledge of robot dynamics as well as dynamic of patients. This requires the controller to overcome complex problems such as uncertainties and nonlinearit...

Robot Control by Fuzzy Logic

Fuzzy set theory, originally developed by Lotfi Zadeh in the 1960’s, has become a popular tool for control applications in recent years (Zadeh, 1965). Fuzzy control has been used extensively in applications such as servomotor and process control. One of its main benefits is that it can incorporate a human being’s expert knowledge about how to control a system, without that a person need to have...