Real-time on line tuning of fuzzy controller for two-link rigid�flexible robot manipulators
In this paper, an online time self-tuning multi-input�multi-output (MIMO) fuzzy bang-bang controller (FBBC) is proposed for the control of two-link rigid and flexible robot manipulators. Two-link rigid and flexible robot manipulators are highly non-linear plants. The fuzzy control is based on the Ta...
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my.uniten.dspace-293822023-12-28T12:12:49Z Real-time on line tuning of fuzzy controller for two-link rigid�flexible robot manipulators Marwan A. Farrukh N. Sahari K. Hanim S. 38361890100 56272534200 57218170038 24067645400 Bang-bang control online self-tuning rigid-flexible manipulators Bang bang control systems Feedback control Flexible manipulators Fuzzy control Fuzzy logic Industrial robots MIMO systems Modular robots Robot applications Sliding mode control Steepest descent method Bang-Bang control Different operating conditions Flexible robot manipulators Fuzzy logic controllers Multi input multi output On-line self-tuning Rigid-flexible manipulators Sliding mode controller Controllers In this paper, an online time self-tuning multi-input�multi-output (MIMO) fuzzy bang-bang controller (FBBC) is proposed for the control of two-link rigid and flexible robot manipulators. Two-link rigid and flexible robot manipulators are highly non-linear plants. The fuzzy control is based on the Takagi�Sugeno-type architecture fuzzy model combined with online self-tuning so that both the desired transient and steady-state responses can be achieved. The proposed FBBC is different from a fuzzy logic controller (FLC) in that it has a bi-level output like a relay but with fuzzy inputs. The online self-tuning is based on the gradient of steepest descent tuning method, which tunes the FBBC's input and output gains. The controller operation is demonstrated and compared with a classic FLC and sliding mode controller (SMC) by simulation to highlight its tracking ability and the manipulator's positioning control with rigid and flexible robot types. Based on the simulation results, the proposed controller with this tuning strategy was found to be superior at different operating conditions. � 2012, SAGE Publications. All rights reserved. Final 2023-12-28T04:12:49Z 2023-12-28T04:12:49Z 2013 Article 10.1177/0142331212468373 2-s2.0-84880279093 https://www.scopus.com/inward/record.uri?eid=2-s2.0-84880279093&doi=10.1177%2f0142331212468373&partnerID=40&md5=ab0a44a2213f629db8d7374ef7a0f997 https://irepository.uniten.edu.my/handle/123456789/29382 35 6 730 741 Scopus |
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Bang-bang control online self-tuning rigid-flexible manipulators Bang bang control systems Feedback control Flexible manipulators Fuzzy control Fuzzy logic Industrial robots MIMO systems Modular robots Robot applications Sliding mode control Steepest descent method Bang-Bang control Different operating conditions Flexible robot manipulators Fuzzy logic controllers Multi input multi output On-line self-tuning Rigid-flexible manipulators Sliding mode controller Controllers |
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Bang-bang control online self-tuning rigid-flexible manipulators Bang bang control systems Feedback control Flexible manipulators Fuzzy control Fuzzy logic Industrial robots MIMO systems Modular robots Robot applications Sliding mode control Steepest descent method Bang-Bang control Different operating conditions Flexible robot manipulators Fuzzy logic controllers Multi input multi output On-line self-tuning Rigid-flexible manipulators Sliding mode controller Controllers Marwan A. Farrukh N. Sahari K. Hanim S. Real-time on line tuning of fuzzy controller for two-link rigid�flexible robot manipulators |
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In this paper, an online time self-tuning multi-input�multi-output (MIMO) fuzzy bang-bang controller (FBBC) is proposed for the control of two-link rigid and flexible robot manipulators. Two-link rigid and flexible robot manipulators are highly non-linear plants. The fuzzy control is based on the Takagi�Sugeno-type architecture fuzzy model combined with online self-tuning so that both the desired transient and steady-state responses can be achieved. The proposed FBBC is different from a fuzzy logic controller (FLC) in that it has a bi-level output like a relay but with fuzzy inputs. The online self-tuning is based on the gradient of steepest descent tuning method, which tunes the FBBC's input and output gains. The controller operation is demonstrated and compared with a classic FLC and sliding mode controller (SMC) by simulation to highlight its tracking ability and the manipulator's positioning control with rigid and flexible robot types. Based on the simulation results, the proposed controller with this tuning strategy was found to be superior at different operating conditions. � 2012, SAGE Publications. All rights reserved. |
| author2 |
38361890100 |
| author_facet |
38361890100 Marwan A. Farrukh N. Sahari K. Hanim S. |
| format |
Article |
| author |
Marwan A. Farrukh N. Sahari K. Hanim S. |
| author_sort |
Marwan A. |
| title |
Real-time on line tuning of fuzzy controller for two-link rigid�flexible robot manipulators |
| title_short |
Real-time on line tuning of fuzzy controller for two-link rigid�flexible robot manipulators |
| title_full |
Real-time on line tuning of fuzzy controller for two-link rigid�flexible robot manipulators |
| title_fullStr |
Real-time on line tuning of fuzzy controller for two-link rigid�flexible robot manipulators |
| title_full_unstemmed |
Real-time on line tuning of fuzzy controller for two-link rigid�flexible robot manipulators |
| title_sort |
real-time on line tuning of fuzzy controller for two-link rigid�flexible robot manipulators |
| publishDate |
2023 |
| _version_ |
1806424003508699136 |
| score |
13.211869 |