Publication:
On-line adaptive fuzzy switching controller for SCARA robot

Simple item page
dc.citedby2
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.authorFadi I.en_US
dc.contributor.authorid38361890100en_US
dc.contributor.authorid56272534200en_US
dc.contributor.authorid57218170038en_US
dc.contributor.authorid24067645400en_US
dc.contributor.authorid54782441700en_US
dc.date.accessioned2023-12-28T07:05:42Z
dc.date.available2023-12-28T07:05:42Z
dc.date.issued2011
dc.description.abstractThis paper presents the design, development and implementation of a new on-line adaptive MIMO switching controller (FSC) for real-time tracking control of an industrial SCARA robot. Two link SCARA robot is a nonlinear plant. The fuzzy control is based on the Takagi-Sugeno's type fuzzy architecture model with on-line self-tuning so that both the desired transient and steady state responses can be achieved at different operation conditions. The online real-time self-tuning is based on the gradient steepest descent method, which tunes the inputs and outputs scaling factors of the proposed fuzzy controller. This controller simplifies the Real-time control implementation and improves the control performance. Real-time controller is implemented in Matlab's xPC Real-time workshop environment. SCARA robot system identification was accomplished by using Auto Regression with external input method (ARX) to determine the discrete time transfer function necessary for the controller design. Comparison between the self-tuned fuzzy switching controller and fixed fuzzy switching controller was made to evaluate the real time tuning's performance. The comparison is based on the tracking ability subjected to large payload. Based on the real time results the performance of fuzzy switching controller with this tuning strategy was found to be superior and it matches favourably to the operating conditions.en_US
dc.description.natureFinalen_US
dc.identifier.epage416
dc.identifier.issue11
dc.identifier.scopus2-s2.0-82555161615
dc.identifier.spage404
dc.identifier.urihttps://www.scopus.com/inward/record.uri?eid=2-s2.0-82555161615&partnerID=40&md5=57b9ce2a9c016ae91257c49eb94d1602
dc.identifier.urihttps://irepository.uniten.edu.my/handle/123456789/29575
dc.identifier.volume6
dc.pagecount12
dc.sourceScopus
dc.sourcetitleWSEAS Transactions on Systems and Control
dc.subjectEducational robotics
dc.subjectFuzzy switching control
dc.subjectOnline self-tuning
dc.subjectSCARA robot
dc.subjectTwo-link manipulators
dc.subjectxPC target
dc.subjectFuzzy control
dc.subjectIdentification (control systems)
dc.subjectMachine design
dc.subjectManipulators
dc.subjectReal time control
dc.subjectRobotics
dc.subjectRobots
dc.subjectSteepest descent method
dc.subjectSwitching
dc.subjectEducational robotics
dc.subjectFuzzy switching control
dc.subjectOn-line self-tuning
dc.subjectSCARA robot
dc.subjectTwo-link manipulator
dc.subjectxPC target
dc.subjectControllers
dc.titleOn-line adaptive fuzzy switching controller for SCARA roboten_US
dc.typeArticleen_US
dspace.entity.typePublication
Files
Collections
SCOPUS