Evolving an interval type-2 fuzzy PID controller for the redundant robotic manipulator

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• 作者：Anupam Kumar ; ^{anuanu1616@gmail.com} ; ^{anu16dec@iitr.ac.in} ; Vijay Kumar ^{vijecfec@iitr.ac.in}
• 关键词：Initial search space ; Interval type-2 fuzzy PID controller ; Trajectory tracking ; Robustness testing ; Five-DOF redundant manipulator
• 刊名：Expert Systems with Applications
• 出版年：2017
• 出版时间：1 May 2017
• 年：2017
• 卷：73
• 期：Complete
• 页码：161-177
• 全文大小：21900 K
• 卷排序：73

文摘

Implementation of IT2FPD+I controllers for redundant robot manipulator. Control of redundant robot and comparison with T1FPID and conventional PID. Computation of upper and lower search rang for optimization technique is presented. Robustness testing is also investigated for proposed controllers. The IT2FPID controllers are found to be superior for trajectory tracking problem.