Type-2 Fuzzy Control for a Flexible-joint Robot Using Voltage Control Strategy

• Published in: International journal of automation and computing Vol. 10; no. 3; pp. 242 - 255
• Main Authors: Zirkohi, Majid Moradi, Fateh, Mohammad Mehdi, Shoorehdeli, Mahdi Aliyari
• Format: Journal Article
• Language: English
• Published: Berlin/Heidelberg Springer-Verlag 01.06.2013; Springer Nature B.V
• Subjects: Actuators; CAE) and Design; Comparative studies; Computer Applications; Computer-Aided Engineering (CAD; Control; Controllers; Direct current; Dynamic stability; Electric potential; Engineering; Flexibility; Fuzzy control; Fuzzy logic; Fuzzy sets; Mechatronics; Motors; Optimization algorithms; Particle swarm optimization; Permanent magnets; Robot arms; Robot control; Robotics; Robots; Robust control; Stability analysis; Voltage; 控制性能; 控制策略; 机器人操作器; 机器人系统; 柔性关节; 模糊控制; 模糊逻辑控制器; 电压控制; flexible-joint robots; Type-2 fuzzy controller; actuator; voltage control strategy; particle swarm optimization (PSO)
• ISSN: 1476-8186; 2153-182X; 1751-8520; 2153-1838
• DOI: 10.1007/s11633-013-0717-x

ype-1 fuzzy sets cannot fully handle the uncertainties. To overcome the problem, type2 fuzzy sets have been proposed. The novelty of this paper is using interval type-2 fuzzy logic controller （IT2FLC） to control a flexible-joint robot with voltage control strategy. In order to take into account the whole robotic system including the dynamics of actuators and the robot manipulator, the voltages of motors are used as inputs of the system. To highlight the capabilities of the control system, a flexible joint robot which is highly nonlinear, heavily coupled and uncertain is used. In addition, to improve the control performance, the parameters of the primary membership functions of IT2FLC are optimized using particle swarm optimization （PSO）. A comparative study between the proposed IT2FLC and type-1 fuzzy logic controller （T1FLC） is presented to better assess their respective performance in presence of external disturbance and unmodelled dynamics. Stability analysis is presented and the effectiveness of the proposed control approach is demonstrated by simulations using a two-link flexible-joint robot driven by permanent magnet direct current motors. Simulation results show the superiority of the IT2FLC over the T1FLC in terms of accuracy, robustness and interpretability.