This chapter presents the concept offuzzy sets andfuzzy logic control and how this may be adopted in the control offlexible manipulator systems. An overview offuzzy logic control comprising the general structure and constituent components is presented. This is followed by a detailed outline of generic process of design offuzzy controllers. A set of case studies demonstrating the design and implementation of fuzzy logic control types for flexible manipulator systems is then presented and discussed.

Chapter Contents:

• 11.1 Introduction
• 11.2 Fuzzy logic control structure
• 11.2.1 Fuzzification
• 11.2.2 Inference mechanism
• 11.2.2.1 Mamdani fuzzy models
• 11.2.2.2 Sugeno fuzzy models
• 11.2.2.3 Tsukamoto fuzzy models
• 11.2.3 Rule-base
• 11.2.3.1 P-like FLC
• 11.2.3.2 PD-like FLC
• 11.2.3.3 PI-like FLC
• 11.2.3.4 PID-like FLC
• 11.2.4 Defuzzification
• 11.2.4.1 Centroid of area
• 11.2.4.2 Bisector of area
• 11.2.4.3 Mean of maximum
• 11.2.4.4 Smallest of maximum
• 11.2.4.5 Largest of maximum
• 11.3 Design of fuzzy controller
• 11.3.1 Input-output selection
• 11.3.2 Choice of membership functions
• 11.3.3 Creation of rule-base
• 11.4 Case studies
• 11.4.1 Case study 11.1: PD-like FLC
• 11.4.2 Case study 11.2: PI-like FLC
• 11.4.3 Case study 11.3: integral wind-up action
• 11.4.3.1 Fixed limits
• 11.4.3.2 Stop summation
• 11.4.3.3 Integral subtraction
• 11.4.4 Case study 11.4: switching PD- PI-like FLC
• 11.5 Summary

Inspec keywords: fuzzy control; control system synthesis; fuzzy set theory; flexible manipulators

Other keywords: fuzzy sets; fuzzy logic control; fuzzy controllers design; flexible manipulator systems

Subjects: Manipulators; Control system analysis and synthesis methods; Combinatorial mathematics; Fuzzy control