Systematic design and analysis of fuzzy-logic control and application to robotics, Part I. Modeling

A systematic methodology for synthesis and analysis of fuzzy-logic controll ers is proposed in this paper (Part I) and its follow up (Part II) [M,R. Em ami, et al., Robotics and Autonomous Systems 33 (2000) 89-108]. A robust mo del-based control structure is suggested that includes a fuzzy-logic invers e dynamics model and several robust fuzzy control rules. The model encapsul ates the knowledge of the system dynamics in the form of IF-THEN rules. The paper focuses on how to obtain this knowledge systematically from the inpu t-output data of a complex system; one that is ill-defined or contains comp licated phenomena that are difficult to interpret analytically. All practic al steps, from data acquisition to model validation, are illustrated using a four degree-of-freedom robot manipulator. Comparing the results with thos e of a complete analytical model and a heuristic fuzzy modeling technique i llustrates the strength of the proposed methodology in terms of capturing e ffects that are difficult to model. In the follow-up paper, this model is u sed in the proposed control structure. (C) 2000 Elsevier Science B.V. All r ights reserved.