A Study on the Fuzzy Learning Control of the Acrobatic Robot

곡예 로보트의 퍼지학습제어에 관한 연구

In this paper we propose a new method to determine the learning rates of fuzzy learning algorithm(FLA) in nonlinear MIMO system. The state feedback gains are used from the linearized system of the nonlinear MIMO system. Through this method, it is easy to determine the learing rates. And it is quarauteed the good convergence and confirmed the performance of FLA is better than that of linear controller(LC) through the simulation. Acrobatic robot system is selected as an example(one-input two-output system), and FLA is implemented through the experiment.