Hierarchical Control of a Space-Based Deployable Manipulator Using Fuzzy Logic

Abstract

Application of the fuzzy logic intelligent control of space-based systems has received relatively less attention compared to conventional control procedures. Basic concepts involved in development of a hierarchical control system using fuzzy logic are explained. Next, fuzzy logic is applied to control a novel two-link robotic arm, composed of revolute and prismatic joints, supported by a mobile base traversing along an orbiting platform. The control system that is developed has three levels. A conventional controller, consisting of the feedback linearization technique combined with proportional-derivativecontrol is used in the bottom level of the hierarchical system, to control the servomotors of the robot. A second layer consists of a servo-expert that preprocesses the high-resolution information coming from joint encoders and extracts the status of the system. A third, intelligent layer is added at the top of the hierarchy to complete the control structure. The main purpose of the top level is to tune the parameters of the crisp (conventional) controller to improve the response of the system. A decision table is developed of ine, for tuning the parameters of the crisp (nonfuzzy) controller, which considerably reduces the real-time computational effort. Typical pick-and-place results from the robot are presented that show that extra tuning can signiŽ cantly improve the performance of the manipulator.