Design of a fuzzy logic controller for a 2-DOF robot manipulator

Author

Ayas, Mustafa Sinasi ; Danayiyen, Yahya ; Altas, Ismail Hakki

Author_Institution

Electr. & Electron. Eng. Dept., Karadeniz Tech. Univ., Trabzon, Turkey

fYear

2013

fDate

7-9 Nov. 2013

Firstpage

265

Lastpage

268

Abstract

In this study, a 2-DOF robot manipulator is designed and controlled by modified fuzzy logic controller. In order to have a good position tracking a fuzzy logic controller, which is convenient for nonlinear complex systems, is developed by modifying the ones from previous works. The performance of the developed FLC is compared with the classical PID controller of which the parameters are tuned by means of Integral Squared Error (ISE) performance measure. The optimum results for both developed FLC and classical PID controller are given in the result section.

Keywords

control system synthesis; fuzzy control; large-scale systems; manipulators; nonlinear control systems; performance index; position control; three-term control; 2DOF robot manipulator; ISE performance measure; classical PID controller; fuzzy logic controller design; integral squared error performance measure; modified fuzzy logic controller; nonlinear complex systems; position tracking; Fuzzy logic; MATLAB; Manipulator dynamics; Mathematical model; controller; fuzzy logic; performance index; robot manipulator;

fLanguage

English

Publisher

ieee

Conference_Titel

Electronics, Computer and Computation (ICECCO), 2013 International Conference on

Conference_Location

Ankara

Type

conf

DOI

10.1109/ICECCO.2013.6718279

Filename

6718279