Fuzzy Sets and Systems, ( ISI ), Volume (235), Year (2014-1) , Pages (83-100)

Title : ( An interval-valued fuzzy controller for complex dynamical systems with application to a 3-PSP parallel robot )

Authors: Hamid Reza Hassanzadeh , Mohammad Reza Akbarzadeh Totonchi , Alireza Akbarzadeh Tootoonchi , Amir Rezaei ,

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In this paper, we present a novel interval-valued fuzzy model-based controller for handling the effects of uncertainty in controlling a complex dynamical system. Theoretically, model-based controllers may be the ideal control mechanisms; however, they are highly sensitive to model uncertainties and lack robustness. These controllers are also computationally intensive, rendering them unusable for many real-world applications. In this work, we incorporate an interval fuzzy logic paradigm into a computed-torque controller for a 3-PSP parallel robot. This paradigm aims to handle the uncertainties in the robot model. The proposed approach benefits from algebraic operations on type-I fuzzy numbers to enhance its capability in dealing with uncertainty. The simulations prove the superiority of the proposed controller in the presence of uncertainty. Furthermore, comparisons with a competing type-I reduced controller as well as a PD controller show this superiority to be more pronounced especially when noise level is remarkably high. Moreover, the designed controller satisfies the computational complexity constraints for real-time implementation.

Keywords

, Fuzzy control; Parallel manipulators; Robotics; Type, II fuzzy logic (T2FL); Interval, valued fuzzy logic; Computed, torque control method
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@article{paperid:1033750,
author = {Hassanzadeh, Hamid Reza and Akbarzadeh Totonchi, Mohammad Reza and Akbarzadeh Tootoonchi, Alireza and Rezaei, Amir},
title = {An interval-valued fuzzy controller for complex dynamical systems with application to a 3-PSP parallel robot},
journal = {Fuzzy Sets and Systems},
year = {2014},
volume = {235},
month = {January},
issn = {0165-0114},
pages = {83--100},
numpages = {17},
keywords = {Fuzzy control; Parallel manipulators; Robotics; Type-II fuzzy logic (T2FL); Interval-valued fuzzy logic; Computed-torque control method (CTC},
}

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%0 Journal Article
%T An interval-valued fuzzy controller for complex dynamical systems with application to a 3-PSP parallel robot
%A Hassanzadeh, Hamid Reza
%A Akbarzadeh Totonchi, Mohammad Reza
%A Akbarzadeh Tootoonchi, Alireza
%A Rezaei, Amir
%J Fuzzy Sets and Systems
%@ 0165-0114
%D 2014

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