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

Kumar, Anupam; Kumar, Vijay

doi:10.1016/j.eswa.2016.12.029

Cited by 100 publications

(32 citation statements)

References 23 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…where ε are lumped matched uncertainties. By substituting the control law in (15) into (17), it follows that: (18) Thus,V ̇ ISMC ≤0 if δ≥‖ε(t,x)‖. It can be concluded that the error trajectories reach the sliding surface in finite time for all values of δ≥‖ε(t,x)‖.…”

Section: Integral Sliding Mode Controlmentioning

confidence: 99%

“…In fact, the linear approximation process is a significant step in designing a classical controller, including PID control. Another prominent controller when it comes to dealing with nonlinear dynamics and robust tracking issues is intelligent control, as in [16,17]. Intelligent control offers an effective way to design a control system without a deep insight into the physical model of the system.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A Comparative Study of LQR and Integral Sliding Mode Control Strategies for Position Tracking Control of Robotic Manipulators

Norsahperi

Danapalasingam

2020

Int. j. electr. comput. eng. syst. (Online)

View full text Add to dashboard Cite

This paper provides a systematic comparative study of position tracking control of nonlinear robotic manipulators. The main contribution of this study is a comprehensive numerical simulation assessing position tracking performances and energy consumption of integral sliding mode control (ISMC), a linear-quadratic regulator with integral action (LQRT ), and optimal integral sliding mode control (OISMC) under three conditions; namely, Case I) without the coupling effect, Case II) with the coupling effect on Link 1 only, and Case III) with the coupling effect on Link 2 only. The viability of the concept is evaluated based on three performance criteria, i.e., the step-response characteristics, position tracking error, and energy consumption of the aforementioned controllers. Based upon the simulation study, it has been found that OISMC offers performances almost similar to ISMC with more than 90% improvement of tracking performance under several cases compared to LQRT; however, energy consumption is successfully reduced by 3.6% in comparison to ISMC. Energy consumption of OISMC can be further reduced by applying optimization algorithms in tuning the weighting matrices. This paper can be considered significant as a robotic system with high tracking accuracy and low energy consumption is highly demanded to be implemented in smart factories, especially for autonomous systems.

show abstract

Section: Integral Sliding Mode Controlmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Comparative Study of LQR and Integral Sliding Mode Control Strategies for Position Tracking Control of Robotic Manipulators

Norsahperi

Danapalasingam

2020

Int. j. electr. comput. eng. syst. (Online)

View full text Add to dashboard Cite

show abstract

“…e parameters of SBL and the stability region of the outer-loop PI controller on the k p − k i plane are obtained by solving equation (19). And a SBL is drawn on the k p − k i plane:…”

Section: Complexitymentioning

confidence: 99%

“…e integral-order PID (IOPID) controller has limitations in control integration, instability, and delay process, and it often leads to large step response, large overshoot, and large impact, especially for unstable complex systems with time delay, and it is di cult to obtain good closed-loop performance [8][9][10][11][12]. Researchers have proposed a series of controller design schemes, including integerorder PID (IOPID) controller, sliding mode controller (SMC) to fractional-order PID (FOPID) controller, fractional-order sliding mode controller and other complex controllers, and so on [12][13][14][15][16][17][18][19]. e computational cost of these controllers increases geometrically with the change of controller structure complexity, but the performance improvement is not satisfactory.…”

Section: Introductionmentioning

confidence: 99%

A New Design Method for PI‐PD Control of Unstable Fractional‐Order System with Time Delay

2019

View full text Add to dashboard Cite

In this paper, a practical PI-PD controller parameter tuning method is proposed, which uses the incenter of the triangle and the Fermat point of the convex polygon to optimize the PI-PD controller. Combined with the stability boundary locus method, the PI-PD controller parameters that can ensure stability for the unstable fractional-order system with time delay are obtained. Firstly, the parameters of the inner-loop PD controller are determined by the centre coordinates of the CSR in the kd−kf plane. Secondly, a new graphical method is used to calculate the parameters of the PI controller, in which Fermat points in the CSR of (kp−ki) plane are selected. Furthermore, the method is extended to uncertain systems, and the PI-PD controller parameters are obtained by using the proposed method through common stable region of all stable regions. The proposed graphical method not only ensures the stability of the closed-loop system but also avoids the complicated optimization calculations. The superior control performance of this method is illustrated by simulation.

show abstract

“…This lies due to the extra degree of freedom provided by their T2 fuzzy sets (T2-FSs) [24], [25]. The superiority of IT2-FLCs has been shown in various control engineering applications such as mobile robots [17], [18], [19], [20], unmanned flight systems [21], engine control [22]. Although the mainstream of these researches are based on Double Input IT2-FLCs (DIT2-FLCs) [14], [16], [18], [19], [20], [21], [23], [29], it has also been shown in [21], [26], [27] that Single Input IT2-FLCs (SIT2-FLCs) are easy to design and to deploy to real-time control engineering applications.…”

Section: Introductionmentioning

confidence: 99%

Type-2 Fuzzy Logic Control in Computer Games

Şahin

Kumbasar

2018

Type-2 Fuzzy Logic and Systems

View full text Add to dashboard Cite

In this chapter, we will present the novel applications of the Interval Type-2 (IT2) Fuzzy Logic Controllers (FLCs) into the research area of computer games. In this context, we will handle two popular computer games called Flappy Bird and Lunar Lander. From a control engineering point of view, the game Flappy Bird can be seen as a classical obstacle avoidance while Lunar Lander as a position control problem. Both games inherent high level of uncertainties and randomness which are the main challenges of the game for a player. Thus, these two games can be seen as challenging testbeds for benchmarking IT2-FLCs as they provide dynamic and competitive elements that are similar to realworld control engineering problems. As the game player can be considered as the main controller in a feedback loop, we will construct an intelligent control systems composed of three main subsystems: reference generator, the main controller, and game dynamics. In this chapter, we will design and then employ an IT2-FLC as the main controller in a feedback loop such that to have a satisfactory game performance while be able to handle the various uncertainties of the games. In this context, we will briefly present the general structure and the design methods of two IT2-FLCs which are the Single Input and the Double Input IT2-FLCs. We will show that an IT2 fuzzy control structure is capable to handle the uncertainties caused by the nature of the games by presenting both simulations and real-time game results in comparison with its Type-1 and conventional counterparts. We believe that the presented design methodology and results will provide a bridge for a wider deployment of Type-2 fuzzy logic in the area of the computer games.

show abstract

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

Cited by 100 publications

References 23 publications

A Comparative Study of LQR and Integral Sliding Mode Control Strategies for Position Tracking Control of Robotic Manipulators

A Comparative Study of LQR and Integral Sliding Mode Control Strategies for Position Tracking Control of Robotic Manipulators

A New Design Method for PI‐PD Control of Unstable Fractional‐Order System with Time Delay

Type-2 Fuzzy Logic Control in Computer Games

Contact Info

Product

Resources

About