FUZZY AND QUANTITATIVE MODEL-BASED CONTROL-SYSTEMS FOR ROBOTIC MANIPULATORS

Generally fuzzy control systems use simple controllers with a few inpu ts and one output. Here more complex control systems, based explicitly on a model of the controlled process and primarily developed in the f rame of quantitative control, are adapted to fuzzy control. Three mode l-based control schemes are proposed for position control of a robotic manipulator. The feasibility of such control systems and the ability of their quantitative and fuzzy implementations to cope with disturban ces, parameter variations and unmodelled dynamics, are evaluated and c ompared by simulation analysis. The extension of the model-based contr ol paradigm to fuzzy control pinpoints a concept unknown in the usual fuzzy controllers, i.e. intrinsically fuzzy variables that may be a so urce of problems in fuzzy feedback loops.