The control problem of a large-scale system represented by a hyperredundant manipulator, a tentacle model, is presented. In order to avoid the difficulties generated by the complexity of the nonlinear integral differential equations, an energy-based control law is introduced. Two fuzzy controllers are discussed. First, one level fuzzy controller ensures the motion control for a steady desired position control. The second controller, two level hierarchical fuzzy controller is associated with time variable desired position control. Numerical simulations and an experimental model are presented to illustrate the efficiency of the method.
Distributed parameter system, fuzzy controller, large scale system.
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