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Some Realisation Issues of Fuzzy Gain-Scheduling Controllers: a Robotic Manipulator Case Study

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Soft Computing and Industry

Abstract

In the paper the comparison of two fuzzy gain-scheduling controller realisation is assessed by means of computer simulation on a case study. The chosen case study is the control of robotic manipulator with a single link. A conventional fuzzy gain-scheduling controller, where parameters of a linear controller are blended with fuzzy logic, and an alternative one, where realisation is based on velocity-based linearisation are compared. Local controllers are of proportional integral (PI) type. Results show that the alternative realisation performs better when closed-loop system operation is on a distance from equilibrium points.

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Author information

Authors and Affiliations

  1. Faculty of Electrical Engineering Ljubljana, University of Ljubljana, Slovenia

    Benjamin Čokan

  2. Jozef Stefan Institute, Ljubljana, Slovenia

    Juš Kocijan

  3. Nova Gorica Polytechnic, Nova Gorica, Slovenia

    Juš Kocijan

Authors
  1. Benjamin Čokan
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  2. Juš Kocijan
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Editor information

Editors and Affiliations

  1. Enterprise Integration, Cranfield University, Cranfield, Bedford, MK43 0AL, UK

    Rajkumar Roy PhD

  2. Department of Pattern Recognition, Fraunhofer IPK-Berlin, Pascalstrasse 8-9, Berlin, 10587, Germany

    Mario Köppen Diplom-Phys

  3. Institute of Intelligent Electronics, Helsinki University of Technology, Otakaari 5 A, FIN-02150, Espoo, Finland

    Seppo Ovaska PhD

  4. Department of Information Engineering, Mie University, 1515 Kamihama-cho, Tsu, 514-8507, Japan

    Takeshi Furuhashi PhD

  5. Royal Institute of Technology, NADA/CV AP, 10044, Stockholm, Sweden

    Frank Hoffmann

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© 2002 Springer-Verlag London

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Čokan, B., Kocijan, J. (2002). Some Realisation Issues of Fuzzy Gain-Scheduling Controllers: a Robotic Manipulator Case Study. In: Roy, R., Köppen, M., Ovaska, S., Furuhashi, T., Hoffmann, F. (eds) Soft Computing and Industry. Springer, London. https://doi.org/10.1007/978-1-4471-0123-9_17

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  • DOI: https://doi.org/10.1007/978-1-4471-0123-9_17

  • Publisher Name: Springer, London

  • Print ISBN: 978-1-4471-1101-6

  • Online ISBN: 978-1-4471-0123-9

  • eBook Packages: Springer Book Archive

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