Experimental Multiple Fuzzy Controls for A Robot Manipulator with Artificial Rubber Muscles

Abstract

The trajectory tracking control of a two-link robot manipulator with artificial rubber muscle actuators is described by a learning fuzzy controller. The learning fuzzy controller used here is called a multiple fuzzy controller, in which several elemental fuzzy controllers are processed in parallel and the degree of usage of each inferred consequent is determined by using a linear neural network. The main purpose of the paper is to illustrate the effectiveness of the proposed method by some simulations and experiments for a circular path tracking.