Design of a Fuzzy Controller for Adaptive Truss Structures

An entire treatment of designing a fuzzy control system for kinematical movements of adaptive truss structures is presented. The truss structure is constructed by stacking a series of basic structural modules which are individually controlled by the modular fuzzy controllers. A systematic way of achieving the modular fuzzy controller design is presented, which allows one to formulate the fuzzy rules by utilizing the inverse kinematics relationship of the basic structural module. The effects of selection of input/output gains, noises in measurement, and possible actuator failures are examined. The results show the proposed approach has several advantages.