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

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

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作者：Richa Sharma^a ; ^{richasharma_7@yahoo.co.in" class="auth_mail" title="E-mail the corresponding author} ; Prerna Gaur^b ; ^{prernagaur@yahoo.com" class="auth_mail" title="E-mail the corresponding author} ; A.P. Mittal^b ; ^{mittalap@gmail.com" class="auth_mail" title="E-mail the corresponding author}
关键词：Two-link rigid robotic manipulator ; Fractional order controller ; Two-layered fuzzy logic controller ; Cuckoo search algorithm ; PID controller ; Trajectory tracking ; Robustness testing
刊名：Applied Soft Computing
出版年：2016
出版时间：October 2016
年：2016
卷：47
期：Complete
页码：565-576
全文大小：2363 K

文摘

•: Two-layered fractional order fuzzy logic controller (TL-FOFLC) is implemented for robotic manipulator.
•: The optimal controller parameters are obtained with cuckoo search algorithm.
•: Robustness analysis of proposed scheme is done with its integer order design, conventional FLC and PID controllers.
•: The proposed scheme outperforms its integer order design, conventional FLC and PID controller.

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