Decentralized fuzzy linguistic control of multiple robotic manipulators with guaranteed global stability

IF 0.9 4区心理学 Q3 COMMUNICATION

Interaction Studies Pub Date : 2019-07-15 DOI:10.1075/IS.18008.FAN

Yongqing Fan, Wenqing Wang, Xiangkui Jiang, Zhen Li

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.

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保证全局稳定的多机器人分散模糊语言控制

研究了一种基于人类语言的分散自适应控制方法，用于学习多机器人的人类行为。在机器人系统中，利用隶属函数可以将许多专家的单词或句子转化为控制动作，利用推理机制可以合成模糊控制器。对于未知模型的动力学机器人，首先引入了一个与模糊逻辑系统逼近精度有关的可调参数，用于处理机器人的未知动力学。切换模糊自适应控制器是为了克服传统模糊逻辑系统中自适应律的个数只关注模糊规则的逻辑结构限制而设计的。这种设计方法的另一个优点是，具有人类语言的控制将半全局稳定性扩展到全局稳定性。最后，通过仿真实例验证了所提出的控制设计方案的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Interaction Studies Multiple-

CiteScore

3.30

自引率

6.70%

发文量

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.