NDLI: OGY control fuzzification of tow-link rigid robot arm

Content Provider	IEEE Xplore Digital Library
Author	Zanjani, S.A. Jafari, A.H. Nasrabadi, A.M.
Copyright Year	2009
Description	Author affiliation: Electronic Engineering Department, Science & Research Branch of Islamic Azad University, Tehran, Iran (Zanjani, S.A.) \|\| Biomedical Engineering Department, Science & Research Branch of Islamic Azad University, Tehran, Iran (Jafari, A.H.) \|\| Biomedical Engineering Department, Shahed University, Tehran, Iran (Nasrabadi, A.M.)
Abstract	In this article, we proposed an OGY controller which have been progressed with some fuzzy rules definition and applied for two-link rigid robot arm. By applying a proper input this robot arm could be in a chaotic space. To obtain a complete database, the input amplitude is varied in chaotic range, afterward the unstable period orbits (UPOs) of the plant, by using the Poincare map, and the convenient gains, are found. To achieve the fuzzy set, maximum changed value of UPOs, which can be controlled with the computed gains, are obtained. So, we have a lot of fuzzy regions a round of UPOs with the definite controlling rules. These regions should be overlapped and covered all spaces between two nearer fixed-points. By this way, the system could be controlled by routing the best path with considering the lowest consumption through the UPOs.
Starting Page	405
Ending Page	408
File Size	3619816
Page Count	4
File Format	PDF
ISBN	9781424446063
DOI	10.1109/PACIIA.2009.5406573
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-11-28
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	two-link rigid robot Artificial neural networks Pattern recognition Optical character recognition software chaotic control optimum routing fuzzy control Handwriting recognition Neural networks Multilayer perceptrons Feature extraction Hardware Poincare map Robots Field programmable gate arrays
Content Type	Text
Resource Type	Article

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