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This paper develops an adaptive fuzzy controller for robot manipulators using a Markov game formulation. The Markov game framework offers a promising platform for robust control of robot manipulators in the presence of bounded external disturbances and unknown parameter variations. We propose fuzzy Markov games as an adaptation of fuzzy Q-learning (FQL) to a continuous-action variation of Markov games,...
In a certain robot control benchmark it is known that certain types of disturbances occur. This paper presents a classifier that gives a fuzzy estimate of the disturbance that is currently affecting the process. The classifier uses the discrete wavelet transform to extract features from the measurement signal. Based on the features, a fuzzy inference system gives an estimate of the proportion of different...
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