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Real-time on line tuning of fuzzy controller for two-link rigid�flexible robot manipulators

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dc.citedby4
dc.contributor.authorMarwan A.en_US
dc.contributor.authorFarrukh N.en_US
dc.contributor.authorSahari K.en_US
dc.contributor.authorHanim S.en_US
dc.contributor.authorid38361890100en_US
dc.contributor.authorid56272534200en_US
dc.contributor.authorid57218170038en_US
dc.contributor.authorid24067645400en_US
dc.date.accessioned2023-12-28T04:12:49Z
dc.date.available2023-12-28T04:12:49Z
dc.date.issued2013
dc.description.abstractIn this paper, an online time self-tuning multi-input�multi-output (MIMO) fuzzy bang-bang controller (FBBC) is proposed for the control of two-link rigid and flexible robot manipulators. Two-link rigid and flexible robot manipulators are highly non-linear plants. The fuzzy control is based on the Takagi�Sugeno-type architecture fuzzy model combined with online self-tuning so that both the desired transient and steady-state responses can be achieved. The proposed FBBC is different from a fuzzy logic controller (FLC) in that it has a bi-level output like a relay but with fuzzy inputs. The online self-tuning is based on the gradient of steepest descent tuning method, which tunes the FBBC's input and output gains. The controller operation is demonstrated and compared with a classic FLC and sliding mode controller (SMC) by simulation to highlight its tracking ability and the manipulator's positioning control with rigid and flexible robot types. Based on the simulation results, the proposed controller with this tuning strategy was found to be superior at different operating conditions. � 2012, SAGE Publications. All rights reserved.en_US
dc.description.natureFinalen_US
dc.identifier.doi10.1177/0142331212468373
dc.identifier.epage741
dc.identifier.issue6
dc.identifier.scopus2-s2.0-84880279093
dc.identifier.spage730
dc.identifier.urihttps://www.scopus.com/inward/record.uri?eid=2-s2.0-84880279093&doi=10.1177%2f0142331212468373&partnerID=40&md5=ab0a44a2213f629db8d7374ef7a0f997
dc.identifier.urihttps://irepository.uniten.edu.my/handle/123456789/29382
dc.identifier.volume35
dc.pagecount11
dc.sourceScopus
dc.sourcetitleTransactions of the Institute of Measurement and Control
dc.subjectBang-bang control
dc.subjectonline self-tuning
dc.subjectrigid-flexible manipulators
dc.subjectBang bang control systems
dc.subjectFeedback control
dc.subjectFlexible manipulators
dc.subjectFuzzy control
dc.subjectFuzzy logic
dc.subjectIndustrial robots
dc.subjectMIMO systems
dc.subjectModular robots
dc.subjectRobot applications
dc.subjectSliding mode control
dc.subjectSteepest descent method
dc.subjectBang-Bang control
dc.subjectDifferent operating conditions
dc.subjectFlexible robot manipulators
dc.subjectFuzzy logic controllers
dc.subjectMulti input multi output
dc.subjectOn-line self-tuning
dc.subjectRigid-flexible manipulators
dc.subjectSliding mode controller
dc.subjectControllers
dc.titleReal-time on line tuning of fuzzy controller for two-link rigid�flexible robot manipulatorsen_US
dc.typeArticleen_US
dspace.entity.typePublication
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