Fuzzy control of an underactuated robot with a fuzzy microcontroller

被引：12
作者：
Muscato, G [1 ]
机构：
[1] Univ Catania, Dipartimento Elettr Elettron & Sistemist, I-95125 Catania, Italy
来源：
MICROPROCESSORS AND MICROSYSTEMS | 1999年 / 23卷 / 06期
关键词：
underactuated robots; fuzzy control; fuzzy microcontroller; non-holonomic systems; nonlinear systems control;
D O I：
10.1016/S0141-9331(99)00045-9
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this work the position control of a planar underactuated manipulator with two revolute joints is considered. A dynamic model of the system is presented and a fuzzy control strategy is proposed. Fuzzy logic allows empirical rules to be translated into a control algorithm. A fuzzy microcontroller is adopted for the practical implementation of the system. The results of several experiments are presented and discussed. (C) 1999 Elsevier Science B.V. All rights reserved.
引用
收藏
页码：385 / 391
页数：7
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