Fuzzy-PI Controller Tuned with HBBO for 2 DOF Robot Trajectory Control

Abstract

The main aim of our study is to control a 2 DOF robot manipulator with Fuzzy-PI and adjust its parameters with human behavior-based optimization. The fuzzy system that we have introduced is based on Takagi–Sugeno-type: it adequately handles uncertainties, ambiguities and it is able to tune the PID parameters in non-linearity situations. The HBBO was dedicated to find the best scaling factor of fuzzy logic as well as the PI’s parameter. The results of our study show the effectiveness of the proposed algorithm to optimize the controller’s parameter; therefore, the dynamics of robot follows perfectly a desired trajectories.