Hybrid fuzzy control of robotics systems

@article{Sun2004HybridFC,
  title={Hybrid fuzzy control of robotics systems},
  author={Ya Lei Sun and Meng Joo Er},
  journal={IEEE Transactions on Fuzzy Systems},
  year={2004},
  volume={12},
  pages={755-765}
}
This paper presents a new approach towards optimal design of a hybrid fuzzy controller for robotics systems. The salient feature of the proposed approach is that it combines the fuzzy gain scheduling method and a fuzzy proportional-integral-derivative (PID) controller to solve the nonlinear control problem. The resultant fuzzy rule base of the proposed controller can be decomposed into two layers. In the upper layer, the gain scheduling method is incorporated with a Takagi-Sugeno (TS) fuzzy… CONTINUE READING
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