Fuzzy-PI Controller Tuned with HBBO for 2 DOF Robot Trajectory Control †
Loading...
Date
2022-01-29
Authors
Journal Title
Journal ISSN
Volume Title
Publisher
Journal Engineering Proceedings.Eng. Proc. 2022, 14, 10.pp 01-08
Abstract
The main aim of our study is to control a 2 DOF robot manipulator with Fuzzy-PI and
adjust its parameters with human behavior-based optimization. The fuzzy system that we have
introduced is based on Takagi–Sugeno-type: it adequately handles uncertainties, ambiguities and
it is able to tune the PID parameters in non-linearity situations. The HBBO was dedicated to find
the best scaling factor of fuzzy logic as well as the PI’s parameter. The results of our study show
the effectiveness of the proposed algorithm to optimize the controller’s parameter; therefore, the
dynamics of robot follows perfectly a desired trajectories.