The Dynamic Fuzzy Logic System: Nonlinear System Identification and Application to Robotic Manipulators

J. X. Lee; G. Vukovich

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The Dynamic Fuzzy Logic System: Nonlinear System Identification and Application to Robotic Manipulators

机译：动态模糊逻辑系统：非线性系统辨识及其在机器人操纵器中的应用

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A novel dynamic fuzzy logic system (DFLS) structure is presented, and its properties investigated. Based on the DFLS, an identification scheme is developed using the Lyapunov synthesis approach with a projection algorithm modification, which is shown to be globally stable for a large class of nonlinear dynamic systems in the sense that all system parameters and variables are uniformly bounded. The application of DFLS-based identifier to practical systems is illustrated by identification of a flexible link manipulator with highly nonlinear joint friction. The effectiveness of the identification scheme in dealing with complex systems is demonstrated. The significance of human expertise in improving system performance is illustrated in a simulation experiment.

机译：提出了一种新颖的动态模糊逻辑系统（DFLS）结构，并对其性能进行了研究。基于DFLS，使用Lyapunov合成方法开发了一种识别方案，并对其进行了投影算法修改，在所有系统参数和变量都均匀受限制的意义上，该方法对于大型非线性动态系统是全局稳定的。基于DFLS的标识符在实际系统中的应用通过具有高度非线性关节摩擦的柔性连杆操纵器的标识来说明。证明了识别方案在处理复杂系统中的有效性。仿真实验说明了人类专业知识对提高系统性能的重要性。

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《Journal of Robotic Systems》 |1997年第6期|p.391-405|共15页
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J. X. Lee; G. Vukovich;
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4. Nonlinear L/sub 1/ and L/sub /spl infin// identifications for continuous systems with applications to class 1 robot manipulator and complex chemical equilibrium computations [C] . Tan, C.C., Zomaya, . 1993

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5. Identification and fuzzy logic control of nonlinear dynamical systems. [D] . Kaymaz, Emre. 1995

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The Dynamic Fuzzy Logic System: Nonlinear System Identification and Application to Robotic Manipulators

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