engleski

An Adaptive Fuzzy Logic Control Synthesis and Applications in Robotics

A new analytic approach to an adaptive Fuzzy Logic Control (FLC) system synthesis without any fuzzy rule base is proposed. For this purpose, among the others, an optimal parameter adaptation algorithm for adaptation of FLC systems has been developed. Consequently, the number of input variables and the numbers of input fuzzy sets of FLC system are not limited. A real capability of the proposed FLC synthesis procedures is presented by synthesis of an adaptive FLC system of industrial robot of RRTR-structure.

Fuzzy systems; analytic approach; robot control

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