Tham khảo tài liệu 'contemporary robotics - challenges and solutions part 14', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Biomimetic approach to design and control mechatronics structure using smart materials 381 Fig. 106. Input fuzzy sets - 3 members -1 -0 6 -0 2 0 2 0 6 1 r Fig. 107. Input fuzzy sets - 7 members p _BN2BN1 SN1SN2 NZ1NZ2 Z PZ1PZ2SP1 SP2 BPi BP -1 -0 6 -0 2 0 2 0 6 1 Fig. 108. Input fuzzy sets - 13 members The state space of ej ei will be partitioned into nine fuzzy regions. The fuzzy if-then rules for these fuzzy regions are presented in eJ eJ N Z P P Z N N Z P Z N N P P Z Table 1. The initial fuzzy if-then rules where the output membership are defined as singletons Fig. 109. Fig. 109. Output singleton - 3 members Fig. 110. Output singleton - 9 members 382 CONTEMPORARY ROBOTICS - Challenges and Solutions Fig. 111. Output singleton - 13 members The output uF of the fuzzy controller is derived to be Soo 1997 9 2Pifei ei fei ei uF 9----------------- 2 e ei 4i ei i 1 59 where Pi is one of the centers of the output singletons and fe ei fệ ẽi are the membership of the input variable ei ei respectively. The control 59 assure the motion of the system on the first part of the trajectory Fig. 115 with ki SMALL ki KS when the trajectory penetrates the switching line the DSMC control is applied by the control of the coefficient ki Proposition 1 ki is BIG ki e KB . Fig. 113. DSMC Control trajectory Biomimetic approach to design and control mechatronics structure using smart materials 383 foe K fa e Kti k e KM Fig. 114. DSMC Control trajectory increased control variable The size of ki is defined as singleton function Fig. 115. S B S M B K KM K k Fig. 116. Three member singleton ki coefficients KS KB k i 1 Fig. 115. Two member singleton ki coefficients Fig. 117. Four member singleton ki .
