The Smart Ogy Control of Two-Link Rigid Robot Arm

The smart OGY control method is proposed for two-link rigid robot arm. For this goal the Bifurcation diagram should be applied for acceptable wide range of the input amplitude. Then by using the robot arm in a chaotic amplitude range and Poincare section, the UPO's will be found. After that, the OGY rules are defined for each UPO's and the maximum changed value of amplitude for each UPO's, which can be controlled with the computed gains, are obtained. So we have a lot of fuzzy regions a round of UPOs with the definite controlling rules. These regions should be overlapped and covered all spaces between two nearer fixed-points. By this way, the system could be controlled by routing the best path with considering the lowest consumption through the UPOs. Keyword: fuzzy control, OGY control, two-link rigid robot, Poincare map

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