Abstract
A new method for on-line tuning the gains of classical controllers using fuzzy logic is proposed. The design of the fuzzy component of the controller is based on the knowledge of a classical controller's behavior. In the design of the fuzzy logic controller, an off-line neural network learning process and the human expertise are combined. The designed fuzzy-PD controller is compared with the classical PD and it is found that the fuzzy-PD controller saves energy without losing in performance. A two rotational degree of freedom robotic arm is used to demonstrate the effectiveness of the proposed control law.
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