Paper Info
Title
Position tracking of a 3-PSP parallel robot using dynamic growing interval type-2 fuzzy neural control
Abstract
A novel dynamic growing mechanism is proposed in the structure learning phase of the interval type-2 fuzzy neural controller.The proposed controller combines the merits of type-2 fuzzy systems in handling high levels of uncertainty and dynamic growing mechanism to reduce the computational burden.The proposed controller is applied to the 3-PSP parallel robot.The simulation and experimental results prove the superiority of the proposed controller namely in lower number of rules and higher precision. Parallel robots have complicated structures as well as complex dynamic and kinematic equations, rendering model-based control approaches as ineffective due to their high computational cost and low accuracy. Here, we propose a model-free dynamic-growing control architecture for parallel robots that combines the merits of self-organizing systems with those of interval type-2 fuzzy neural systems. The proposed approach is then applied experimentally to position control of a 3-PSP (Prismatic-Spherical-Prismatic) parallel robot. The proposed rule-base construction is different from most conventional self-organizing approaches by omitting the node pruning process while adding nodes more conservatively. This helps preserve valuable historical rules for when they are needed. The use of interval type-2 fuzzy logic structure also better enables coping with uncertainties in parameters, dynamics of the robot model and uncertainties in rule space. Finally, the adaptation structure allows learning and further adapts the rule base to changing environment. Multiple simulation and experimental studies confirm that the proposed approach leads to fewer rules, lower computational cost and higher accuracy when compared with two competing type-1 and type-2 fuzzy neural controllers.
Year
DOI
Venue
2015
10.1016/j.asoc.2015.07.015
Applied Soft Computing
Keywords
DocType
Volume
Dynamic growing,Fuzzy logic control,Fuzzy neural networks,Type-2 fuzzy sets,Parallel robot control
Journal
37
Issue
ISSN
Citations 
C
1568-4946
6
PageRank 
References 
Authors
0.45
22
4
Name
Order
Citations
PageRank
Shirin Fartash Toloue160.45
Mohammad R. Akbarzadeh-Totonchi212518.26
Alireza Akbarzadeh36110.50
Mohsen Jalaeian F.480.84