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Kinematic Control of Continuum Manipulators Using a Fuzzy-Model-Based Approach

Research output: Contribution to journalArticlepeer-review

Original languageEnglish
Article number7452639
Pages (from-to)5022-5035
Number of pages14
JournalIEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Volume63
Issue number8
Early online date14 Apr 2016
DOIs
Accepted/In press17 Mar 2016
E-pub ahead of print14 Apr 2016
PublishedAug 2016

Documents

  • Qi-Kinematic Control of Continuum_QI_Accepted 17Mar2016_GREEN AAM

    TIE_ONLINE.pdf, 6.7 MB, application/pdf

    Uploaded date:27 Apr 2016

    Version:Final published version

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King's Authors

Abstract

Continuum manipulators are a rapidly emerging class of robots. However, due to the complexity of their mathematical models and modelling inaccuracies, the development of effective control systems is a particularly challenging task. This paper presents the first attempt on kinematic control of continuum manipulators using a fuzzymodel- based approach. A fuzzy controller is proposed for autonomous execution of end-effector trajectory tracking tasks for a continuum manipulator. Particularly, membership functions are employed to combine the linearized state-space models, to achieve, overall, a fuzzy model. The fuzzy model can help design the fuzzy controller; in our approach this process is supported by a thorough stability analysis. This control methodology enables a solution with low computational requirements to this motion control problem - there is no need to continuously update the Jacobian of the continuum manipulator. The superior performance of this controller is validated in MATLAB simulations and compared with those of classical controllers found in the literature. The experiments on a rapid-prototyped continuum manipulator further verify the feasibility and the advantages of this fuzzy controller in the presence of modelling discrepancies and hardware inaccuracies.

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