Robust Fuzzy Control for 2-DOF Manipulator System

A. Aly, A. Aloqla
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引用次数: 1

Abstract

Robot manipulators have become increasingly important in the field of automation. So modelling and control of robots in automation will be very important. This paper presents a study of robust control approach employing fuzzy logic control technique for two degree of freedom (2-DOF) manipulator robot. A learning control system is designed so that its “learning mechanism” has the ability to improve the performance of the closed-loop system by generating command inputs to the plant and utilizing feedback information from the plant. It is well known that robotic manipulators are highly nonlinear coupling dynamic systems. A fuzzy logic rule base is designed, using the knowledge obtained from the operator. Simulation is performed to demonstrate the effectiveness of control strategy. Furthermore, the parameters of the controllers were optimized using MATLAB and simulations' result reveals that control scheme is working satisfactorily.
二自由度机械手系统的鲁棒模糊控制
机器人机械手在自动化领域的地位越来越重要。因此,机器人的建模和控制在自动化中具有十分重要的意义。本文研究了采用模糊逻辑控制技术的二自由度机械臂机器人鲁棒控制方法。设计了一个学习控制系统,使其“学习机制”能够通过向被控对象生成指令输入并利用被控对象的反馈信息来提高闭环系统的性能。众所周知,机械臂是高度非线性耦合的动态系统。利用从算子获得的知识,设计了模糊逻辑规则库。通过仿真验证了控制策略的有效性。此外,利用MATLAB对控制器参数进行了优化,仿真结果表明,该控制方案运行良好。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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