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Microelectronic design of universal fuzzy controllers.

M.ª Iluminada Baturone, Santiago Sánchez-Solano (2001)

Mathware and Soft Computing

Fuzzy controllers have been proven to be universal, that is, they can provide any control surface. Their microelectronic implementation is very suitable to achieve high-speed (real-time operation), and low area and power consumption. This paper focuses on discussing the two basic approaches that can be employed to design programmable universal controller integrated circuits. Analog, mixed-signal and digital realizations are summarized and compared.

Modelling and control of an omnidirectional mobile manipulator

Salima Djebrani, Abderraouf Benali, Foudil Abdessemed (2012)

International Journal of Applied Mathematics and Computer Science

A new approach to control an omnidirectional mobile manipulator is developed. The robot is considered to be an individual agent aimed at performing robotic tasks described in terms of a displacement and a force interaction with the environment. A reactive architecture and impedance control are used to ensure reliable task execution in response to environment stimuli. The mechanical structure of our holonomic mobile manipulator is built of two joint manipulators mounted on a holonomic vehicle. The...

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