A Robust Fuzzy Controller for a Class of Multiple
Hyperredundant Cooperative Robots

M. Ivanescu, N. Bizdoaca, V. Stoian, N.A. Popescu and D. Popescu


Abstract
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The local control for a multi-chain robotic system formed by tentacle
manipulators grasping a common object with hard point contacts is
proposed to solve using a robust control system.  The stability
and robustness of a class of the fuzzy logic control (FLC) are
investigated and a robust FLC is proposed with uncertainties of
the load.  The two-level hierarchical control is adopted.  The upper
level coordinator gathers all the necessary information to resolve
the distribution force.  Then, the lower-level local control problem
is treated as an open-chain redundant manipulator control problem.
The fuzzy rules are established.  Simulation results are presented
and discussed.