Comments on “Design of two-layered fractional order fuzzy logic controllers applied to robotic manipulator with variable payload”

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• 作者：Vineet Kumar ^{vineetkumar27@gmail.com} ; K.P.S. Rana ; ^{kpsrana1@gmail.com}
• 关键词：PID controller ; Fractional order controller ; Fuzzy controller ; Trajectory tracking ; Two-link rigid robotic manipulator
• 刊名：Applied Soft Computing
• 出版年：2017
• 出版时间：February 2017
• 年：2017
• 卷：51
• 期：Complete
• 页码：145-146
• 全文大小：214 K
• 卷排序：51

文摘

Sharma et al. have investigated the performance of two-layered fractional order fuzzy logic controller (TL-FOFLC) for a 2-link rigid planer robotic manipulator with payload. In this work, the performance of TL-FOFLC has been compared with two-layered FLC (TL-FLC), single-layered FLC (SL-FLC) and the conventional proportional-integral-derivative (PID) controllers, for trajectory tracking, model uncertainties and disturbance rejection. In this comment, it is pointed out that this work has several missing essential parameters, and therefore, it is not possible for the reader to validate all the claimed results of Sharma et al. (2016). Six numerical values, three gains for each of the used two PID controllers are found to be unreported in addition to the six gains for each of the used two SL-FLCs. Since the performances of the PIDs and the SL-FLCs are highly dependent on their tuned gains it is concluded that the reported performances of these controllers cannot be validated.