Yongqing Fan, Wenqing Wang, Xiangkui Jiang, Zhen Li
{"title":"Decentralized fuzzy linguistic control of multiple robotic manipulators with guaranteed global\n stability","authors":"Yongqing Fan, Wenqing Wang, Xiangkui Jiang, Zhen Li","doi":"10.1075/IS.18008.FAN","DOIUrl":null,"url":null,"abstract":"\n A decentralized adaptive control based on human linguistic is investigated to learn human behaviors for multiple\n robotic manipulators. Many experts’ words or sentences can be transferred into the control actions by employing membership\n functions in robot systems, which can be synthesized fuzzy controller by employing reasoning mechanism. For the unknown model\n dynamical robot manipulators, one adjustable parameter that relates to the approximation accuracy of fuzzy logic systems is\n introduced at first, which be utilized to deal with the unknown dynamics of robot manipulators. Switching fuzzy adaptive\n controller is designed to overcome the limitation of logic structure that the number of adaptive laws only focus on fuzzy rules in\n conventional fuzzy logic systems. Another advantage of this design method is that the control with human linguistic extend the\n semi-global stability to global stability. Finally, effectiveness of the developed control design scheme has been shown in\n simulation example.","PeriodicalId":46494,"journal":{"name":"Interaction Studies","volume":" ","pages":""},"PeriodicalIF":0.9000,"publicationDate":"2019-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Interaction Studies","FirstCategoryId":"98","ListUrlMain":"https://doi.org/10.1075/IS.18008.FAN","RegionNum":4,"RegionCategory":"心理学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"COMMUNICATION","Score":null,"Total":0}
引用次数: 2
Abstract
A decentralized adaptive control based on human linguistic is investigated to learn human behaviors for multiple
robotic manipulators. Many experts’ words or sentences can be transferred into the control actions by employing membership
functions in robot systems, which can be synthesized fuzzy controller by employing reasoning mechanism. For the unknown model
dynamical robot manipulators, one adjustable parameter that relates to the approximation accuracy of fuzzy logic systems is
introduced at first, which be utilized to deal with the unknown dynamics of robot manipulators. Switching fuzzy adaptive
controller is designed to overcome the limitation of logic structure that the number of adaptive laws only focus on fuzzy rules in
conventional fuzzy logic systems. Another advantage of this design method is that the control with human linguistic extend the
semi-global stability to global stability. Finally, effectiveness of the developed control design scheme has been shown in
simulation example.
期刊介绍：
This international peer-reviewed journal aims to advance knowledge in the growing and strongly interdisciplinary area of Interaction Studies in biological and artificial systems. Understanding social behaviour and communication in biological and artificial systems requires knowledge of evolutionary, developmental and neurobiological aspects of social behaviour and communication; the embodied nature of interactions; origins and characteristics of social and narrative intelligence; perception, action and communication in the context of dynamic and social environments; social learning.
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