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

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dc.citedby0
dc.contributor.authorMarwan A.en_US
dc.contributor.authorNagi F.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.accessioned2023-12-28T06:30:11Z
dc.date.available2023-12-28T06:30:11Z
dc.date.issued2012
dc.description.abstractIn this paper, a real time self-tuning MIMO fuzzy bang-bang controller (FBBC) is proposed to control two link rigid and flexible robot manipulators. Two link rigid and flexible robot manipulators are highly nonlinear plants. The fuzzy control is based on the Takagi-Sugeno's type architecture fuzzy model combined with online self-tuning so that both the desired transient and steady state responses can be achieved. The online self-tuning is based on the gradient steepest descent tuning method, which learns to tune the FBBC, "s inputs and outputs gains online. The controller operation is demonstrated by simulation of tracking ability and manipulator's positioning control with different payload. Based on the simulation results, the proposed controller shows good performance in tracking ability even with big payload.en_US
dc.description.natureFinalen_US
dc.identifier.epage390
dc.identifier.issue12
dc.identifier.scopus2-s2.0-84872724644
dc.identifier.spage381
dc.identifier.urihttps://www.scopus.com/inward/record.uri?eid=2-s2.0-84872724644&partnerID=40&md5=9681c67bdac888ef4a89025f19861f53
dc.identifier.urihttps://irepository.uniten.edu.my/handle/123456789/29479
dc.identifier.volume11
dc.pagecount9
dc.sourceScopus
dc.sourcetitleWSEAS Transactions on Circuits and Systems
dc.subjectBang-bang control
dc.subjectMIMO dynamic systems
dc.subjectOnline self-tuning
dc.subjectRigid-flexible manipulators
dc.subjectTakagi-Sugeno
dc.subjectBang bang control systems
dc.subjectControllers
dc.subjectFuzzy control
dc.subjectIntelligent control
dc.subjectBang-Bang control
dc.subjectBang-bang controllers
dc.subjectFlexible robots
dc.subjectFuzzy controllers
dc.subjectFuzzy models
dc.subjectNonlinear plant
dc.subjectOn-line self-tuning
dc.subjectOnline tuning
dc.subjectPositioning control
dc.subjectReal time
dc.subjectRigid-flexible
dc.subjectRigid-flexible manipulators
dc.subjectRobot manipulator
dc.subjectSelftuning
dc.subjectSteady-state response
dc.subjectSteepest descent
dc.subjectTakagi-sugeno
dc.subjectTracking ability
dc.subjectTuning method
dc.subjectTwo-link
dc.subjectFlexible manipulators
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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