H.6.2.2. Fuzzy set
Direct adaptive fuzzy control of flexible-joint robots including actuator dynamics using particle swarm optimization

M. Moradizirkohi; S. Izadpanah

Volume 5, Issue 1 , March 2017, , Pages 137-147

http://dx.doi.org/10.22044/jadm.2016.739

Abstract
  In this paper a novel direct adaptive fuzzy system is proposed to control flexible-joints robot including actuator dynamics. The design includes two interior loops: the inner loop controls the motor position using proposed approach while the outer loop controls the joint angle of the robot using a PID ...  Read More