FUZZY TRACKING CONTROL OF TWO DEGREES OF FREEDOM ROBOTIC ARM | ||
| JES. Journal of Engineering Sciences | ||
| Article 9, Volume 38, No 1, January and February 2010, Pages 135-156 PDF (1.13 M) | ||
| Document Type: Research Paper | ||
| DOI: 10.21608/jesaun.2010.123792 | ||
| Authors | ||
| Mahmoud M. Othman* ; Abdel Badie Sharkawy; Abouel Makarem A. Khalil | ||
| Mechanical Engineering Department, Faculty of Engineering Assiut University, Assiut, Egypt – Postal Code: 71516 | ||
| Abstract | ||
| In this paper, we derive a fuzzy logic controller (FLC) for robotic systems. The approach implements fuzzy partition to the state variables based on Lyapunov synthesis. The resulting control law is stable and able to exploit the dynamic variables of the system in a linguistic manner. The presented methodology enables the designer to systematically derive the rule base of the control. We further simplify the procedure leading to a computationally efficient FLC. The methodology is model free approach and does not require any information about the system nonlinearities, uncertainties, time varying parameters, etc. Here, we present experimental results of the following controllers: the conventional PD controller and the proposed FLC. The two controllers are tested and compared with respect to ease of design, implementation, and performance of the closed loop system. | ||
| Keywords | ||
| Trajectory Tracking; Fuzzy Logic Controller (FLC); PD Control; Two-Link Robot | ||
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