Infrastructure for a dual cooperative robotic manipulator system

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The current research proposal involves the design of a new family of adaptive fuzzy controllers that operate within a hybrid hierarchical structure for the control of ill-defined multi-manipulator systems subject to modeling uncertainties and unstructured external disturbances. The different aspects of the proposed research program are presented next. The objectives of the proposed research include: (a) Developing and analyzing a new type of adaptive fuzzy controllers to keep up with the increasingly demanding design requirements of modern complex cooperative robotic systems. (b) Developing and analyzing a novel hierarchical control architecture for a more efficient computational resource allocation of the intelligent controller. The stability of the overall controller is then analyzed taking into account the adopted control hierarchy. (c) Enhancing the controller's real-time execution efficiency to ease its integration within commercial micro-chips. Although our target application is in the field of cooperative manipulator systems, the potential findings of this research work will certainly pave the way in front of further discoveries in the control of complex and ill-defined systems in general.