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Systematic design and analysis of fuzzy-logic control and application to robotics, part II. control

机译：模糊逻辑控制的系统设计和分析及其在机器人技术中的应用，第二部分。控制

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This paper (Part II) follows the task of systematic synthesis and analysis of fuzzy-logic control (FLC) systems introduced in Part I [M.R. Emami, et al., Robotics and Autonomous Systems 33 (2000)65-88]. First, a generalized formulation of the sliding mode control is obtained for a class of nonlinear multi-input-multi-output systems. This formulation has two distinguishing features that are necessary for the formulation of the proposed approach: (i) it is applicable to "black box" systems with no need to identify the internal parameters or to assume a specific structure; (ii) it is possible to design the robust controller for each system state independently while the stability and robustness of the entire system is guaranteed. The robust fuzzy control rules are designed based on the generalized formulation to guarantee the stability and satisfactory system performance. The proposed FLC has been applied to trajectory control of the four degree-of-freedom IRIS arm (Emami et al., 2000), and was compared with high-gain PID controllers. A superior tracking performance was achieved.
机译：本文（第二部分）遵循第一部分中介绍的模糊逻辑控制（FLC）系统的系统综合和分析任务。 Emami等人，Robotics and Autonomous Systems 33（2000）65-88]。首先，针对一类非线性多输入多输出系统，获得了滑模控制的广义公式。这种表述具有拟议方法的表述所必需的两个区别特征：（i）适用于“黑匣子”系统，无需识别内部参数或采用特定结构; （ii）可以为每个系统状态独立设计鲁棒控制器，同时保证整个系统的稳定性和鲁棒性。基于广义公式设计了鲁棒的模糊控制规则，以保证系统的稳定性和令人满意的性能。拟议的FLC已被应用于四个自由度IRIS臂的轨迹控制（Emami等，2000），并与高增益PID控制器进行了比较。实现了卓越的跟踪性能。

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