NDLI: Comparison between fuzzy logic based controllers for robot manipulator trajectory tracking

Content Provider	IEEE Xplore Digital Library
Author	Al-khayyt, S.Z.S.
Copyright Year	2012
Description	Author affiliation: Mechatron. Eng. Dept., Mosul Univ., Mosul, Iraq (Al-khayyt, S.Z.S.)
Abstract	Most industrial processes nowadays are still controlled by proportional-integral-derivative (PID) controllers. Ziegler and Nichols proposed the well-known Ziegler-Nichols method to tune the coefficients of PID controller. Although this tuning method is simple, but it gives fixed values for the coefficients which makes PID controller has weak adaptabilities for the model parameters variation and changing in operating conditions. In order to achieve adaptive controller, fuzzy logic (FL) based controllers are tested in this paper which combines conventional PID controller and FL capabilities. The conventional PID controller in the robot manipulator is replaced by fuzzy based controllers so as to achieve trajectory tracking with minimum steady-state error and improving the dynamic behavior (overshoot). The simulation results showed that the controllers have strong self adaptability over the conventional PID controller.
Starting Page	1
Ending Page	6
File Size	329851
Page Count	6
File Format	PDF
ISBN	9781467350334
e-ISBN	9781467350327
DOI	10.1109/NCES.2012.6740462
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-11-07
Publisher Place	Iraq
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fuzzy logic PID controller Trajectory tracking Self tuning controller Robot manipulator Manipulators Trajectory Steady-state PD control Tuning
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Comparison of conventional & fuzzy based sliding mode PID controller for robot manipulator

Sliding mode PID-controller design for robot manipulators by using fuzzy tuning approach

Fuzzy pre-compensated fuzzy self-tuning fuzzy PID controller of 3 DOF planar robot manipulators

Fuzzy + PID Controller for Robot Manipulator

Comparison between FLC and PID Controller for 5DOF robot arm

Tuning PID Controller by Neural Network for Robot Manipulator Trajectory Tracking

Fuzzy logic based high performance PID controller

Trajectory Tracking Controller for flexible robot arm

Adaptive Fuzzy Self-learning Controller for Robotic Manipulators

Comparison between fuzzy logic based controllers for robot manipulator trajectory tracking

Similar Documents

Comparison of conventional & fuzzy based sliding mode PID controller for robot manipulator

Sliding mode PID-controller design for robot manipulators by using fuzzy tuning approach

Fuzzy pre-compensated fuzzy self-tuning fuzzy PID controller of 3 DOF planar robot manipulators

Fuzzy + PID Controller for Robot Manipulator

Comparison between FLC and PID Controller for 5DOF robot arm

Tuning PID Controller by Neural Network for Robot Manipulator Trajectory Tracking

Fuzzy logic based high performance PID controller

Trajectory Tracking Controller for flexible robot arm

Adaptive Fuzzy Self-learning Controller for Robotic Manipulators

Comparison between fuzzy logic based controllers for robot manipulator trajectory tracking