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Abstract
The proposed control structure has a three-level hierarchy. The lowest level has a set of PID controllers closed around a high-speed decoupling and linearising controller. The second level contains a set of servo experts, one for each degree of freedom of the robot. A servo expert is a knowledge system of the forward production type. It monitors the corresponding joint response, and makes inferences on the basis of a set of performance specifications. These inferences are supplied to a fuzzy tuner at Level 3. The knowledge base of this fuzzy tuner consists of expert knowledge in the form of linguistic rules for servo tuning. This knowledge is matched with inferences of the servo experts to arrive at tuning decisions for the PID controllers. Using this structure, a control system has been developed for a two-degree-of-freedom robot. Performance of this controller is evaluated using simulation experiments.
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