Fuzzy tracking controller for shape optimized robotic system

Abstract

The paper deals with an effective approach of the robust controller design, based on the fuzzy logic. We developed algorithms with variable sampling for trajectorytracking. The proposed controller design and sampling algorithms are verified on the case study of the chosen mechatronic system. All numerical and graphical results are obtained in Co-simulation of combination two different modeling systems - Matlab-Simulink and MSC Adams. The paper shows the methodology of energy cost reduction using shape optimized model based on the system analysis made in system ANSYS.