Beta
ManageSearchChatDiscover
123792

FUZZY TRACKING CONTROL OF TWO DEGREES OF FREEDOM ROBOTIC ARM

Article

Last updated: 26 Dec 2024

OverviewSimilar Items

Subjects

-

Tags

Mechanical, Power, Production, Design and Mechatronics Engineering.

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.

DOI

10.21608/jesaun.2010.123792

Keywords

trajectory tracking, Fuzzy logic controller (FLC), PD Control, Two-link robot

Authors

First Name

Mahmoud M.

Last Name

Othman

MiddleName

-

Affiliation

Mechanical Engineering Department, Faculty of Engineering Assiut University, Assiut, Egypt – Postal Code: 71516

Email

mmo_83@aun.edu.eg

City

-

Orcid

-

First Name

Abdel Badie

Last Name

Sharkawy

MiddleName

-

Affiliation

Mechanical Engineering Department, Faculty of Engineering Assiut University, Assiut, Egypt – Postal Code: 71516

Email

ab.shark@aun.edu.eg

City

-

Orcid

-

First Name

Abouel Makarem A.

Last Name

Khalil

MiddleName

-

Affiliation

Mechanical Engineering Department, Faculty of Engineering Assiut University, Assiut, Egypt – Postal Code: 71516

Email

-

City

-

Orcid

-

Volume

38

Article Issue

No 1

Related Issue

16624

Issue Date

2010-01-01

Receive Date

2009-11-05

Publish Date

2010-01-01

Page Start

135

Page End

156

Print ISSN

1687-0530

Online ISSN

2356-8550

Article File

JESAUN_Volume 38_Issue No 1_Pages 135-156.pdf

PDF . 1.2MB

Link

https://jesaun.journals.ekb.eg/article_123792.html

Detail API

https://jesaun.journals.ekb.eg/service?article_code=123792

Order

9

Type

Research Paper

Type Code

1,438

Publication Type

Journal

Publication Title

JES. Journal of Engineering Sciences

Publication Link

https://jesaun.journals.ekb.eg/

MainTitle

FUZZY TRACKING CONTROL OF TWO DEGREES OF FREEDOM ROBOTIC ARM

Details

Type

Article

Created At

23 Jan 2023