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Robust Fuzzy MIMO Bang-Bang Controller for two links robot manipulators

In this paper a new fuzzy controller for multi-input-multi-output (MIMO) systems has been proposed. The new MIMO self-tuning robust controller is called as Fuzzy Bang-Bang Controller (FBBC) and is used for rigid-type robot which has two links manipulators. The controller operation is demonstrated by...

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Main Authors: Marwan A., Nagi F., Sahari K.S.M., Hanim S.
Other Authors: 38361890100
Format: Article
Published: 2023
Subjects:
Bang-Bang
MIMO systems control
Robotic manipulators
Self-tuning controller
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id my.uniten.dspace-30471
record_format dspace
spelling my.uniten.dspace-304712023-12-29T15:48:15Z Robust Fuzzy MIMO Bang-Bang Controller for two links robot manipulators Marwan A. Nagi F. Sahari K.S.M. Hanim S. 38361890100 56272534200 57218170038 24067645400 Bang-Bang MIMO systems control Robotic manipulators Self-tuning controller In this paper a new fuzzy controller for multi-input-multi-output (MIMO) systems has been proposed. The new MIMO self-tuning robust controller is called as Fuzzy Bang-Bang Controller (FBBC) and is used for rigid-type robot which has two links manipulators. The controller operation is demonstrated by simulation of manipulators movement from any initial position to up and downward positions. The comparison between the proposed controller and Slide Mode Controller (SMC) is carried out for to tracking performance ability. The comparison is based on: the speed of convergences, maximum payload, amplitude and frequency. It was concluded that based on the tables and the simulation results proposed controller is better than slide mode controller (SMC) in handle big load, amplitude and frequency. Final 2023-12-29T07:48:15Z 2023-12-29T07:48:15Z 2011 Article 2-s2.0-84155184500 https://www.scopus.com/inward/record.uri?eid=2-s2.0-84155184500&partnerID=40&md5=b681b4a65e8ad447db090affa199ff23 https://irepository.uniten.edu.my/handle/123456789/30471 5 11 2178 2192 Scopus
institution Universiti Tenaga Nasional
building UNITEN Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Tenaga Nasional
content_source UNITEN Institutional Repository
url_provider http://dspace.uniten.edu.my/
topic Bang-Bang
MIMO systems control
Robotic manipulators
Self-tuning controller
spellingShingle Bang-Bang
MIMO systems control
Robotic manipulators
Self-tuning controller
Marwan A.
Nagi F.
Sahari K.S.M.
Hanim S.
Robust Fuzzy MIMO Bang-Bang Controller for two links robot manipulators
description In this paper a new fuzzy controller for multi-input-multi-output (MIMO) systems has been proposed. The new MIMO self-tuning robust controller is called as Fuzzy Bang-Bang Controller (FBBC) and is used for rigid-type robot which has two links manipulators. The controller operation is demonstrated by simulation of manipulators movement from any initial position to up and downward positions. The comparison between the proposed controller and Slide Mode Controller (SMC) is carried out for to tracking performance ability. The comparison is based on: the speed of convergences, maximum payload, amplitude and frequency. It was concluded that based on the tables and the simulation results proposed controller is better than slide mode controller (SMC) in handle big load, amplitude and frequency.
author2 38361890100
author_facet 38361890100
Marwan A.
Nagi F.
Sahari K.S.M.
Hanim S.
format Article
author Marwan A.
Nagi F.
Sahari K.S.M.
Hanim S.
author_sort Marwan A.
title Robust Fuzzy MIMO Bang-Bang Controller for two links robot manipulators
title_short Robust Fuzzy MIMO Bang-Bang Controller for two links robot manipulators
title_full Robust Fuzzy MIMO Bang-Bang Controller for two links robot manipulators
title_fullStr Robust Fuzzy MIMO Bang-Bang Controller for two links robot manipulators
title_full_unstemmed Robust Fuzzy MIMO Bang-Bang Controller for two links robot manipulators
title_sort robust fuzzy mimo bang-bang controller for two links robot manipulators
publishDate 2023
_version_ 1806428244982890496
score 13.222552

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