A Fuzzy Controller for Space Manipulator Systems

Abstract

In this paper, a robust robotic controller algorithm is developed using a fuzzy logic structure. A general rule base is formulated using quantization tables in conjunction with traditional PID control. This hybrid fuzzy controller has an advantage in that a broader range of uncertainties, including unknown initial conditions, may still be addressed and stabilized using this structure. An off-line tuning approach has been investigated using phase portraits to gain further insight into the algorithm. The approach has been tested in simulation on a threedegree of freedom revolute manipulator model as well as other system dynamics.