Fuzzy-PI Conroller Tuned With GWO, WOA And TLBO For 2 DOF Robot Trajectory Control
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Date
2022-03-01
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ALGERIAN JOURNAL OF SIGNALS AND SYSTEMS (AJSS).Vol. 7, Issue 1.pp01-06
Abstract
In this study, a manipulator robot with two degrees of freedom was controlled by Fuzzy-PI adjust
by three meta-heuristic algorithms (Grey wolf optimizer (GWO), Whale Optimization Algorithm (WOA) and
Teaching–learning-based optimization (TLBO)). The scale factors of the fuzzy system of the Takagi-Sugano
type (the width of the membership functions) and the parameters of PI were optimized by those three
algorithms under the cost function of the absolute magnitude of the mean error (MAE). In order to investigate
the robustness of the proposed controller we considered the friction forces. The results of the simulation prove
the controller's effectiveness to following a given trajectory