ABSTRACT
In this chapter, a novel fuzzy inverse model derivation procedure is developed and implemented for a general multi-input single-output (MISO) nonlinear plant (Xu and Shin, 2008). First, the system dynamics is modeled in fuzzy domain with triangular input membership functions (MFs), singleton output MF, and fuzzy-mean defuzzi-fication. And then the fuzzy inverse model is systematically constructed from the obtained fuzzy model, which has the ability of uniquely determining the inverse relationship for each input–output pair. It is derived in a straightforward way and the required input variables can be simultaneously obtained by the fuzzy inferencing calculation to realize the desired output value. Simulation examples are provided to demonstrate the effectiveness of the proposed method to find the inverse kinematics solution for complex multiple degree-of-freedom industrial robot manipulators.
