Fuzzy-based Generalized Predictive Control of a robotic arm

Author

Cronin, Joseph ; Escaño, Juan M. ; Roshany-Yamchi, Samira ; Canty, Niel

Author_Institution

NIMBUS Centre for Embedded Res., Cork Inst. of Technol., Cork, Ireland

fYear

2013

fDate

26-27 June 2013

Firstpage

153

Lastpage

157

Abstract

In this paper, Generalized Predictive Control (GPC) based on a Fuzzy Logic model is illustrated. The control technique is then applied to a selected nonlinear application to show the performance of the Fuzzy-Based Generalized Predictive Control (FGPC). The results of the presented FGPC method are compared with standard GPC and Proportional-Integral-Derivative Control (PID). The results revealed limitations of the PID and the linear GPC in operating points that differed from the controller design specification. The Fuzzy GPC overcame these limitations and displayed greater global performance.

Keywords

control system synthesis; fuzzy control; mobile robots; motion control; nonlinear control systems; predictive control; FGPC method; controller design specification; fuzzy GPC; fuzzy logic model; fuzzy-based generalized predictive control; global performance; nonlinear application; robotic arm; Fuzzy Model; Generalized Predictive Control; Modelling; Optimization;

fLanguage

English

Publisher

iet

Conference_Titel

Irish Signals & Systems Conference 2014 and 2014 China-Ireland International Conference on Information and Communications Technologies (ISSC 2014/CIICT 2014). 25th IET

Conference_Location

Limerick

Type

conf

DOI

10.1049/cp.2014.0676

Filename

6912747