Improved trajectory tracking control for a three axis SCARA robot using fuzzy logic
Joint Authors
Mahdi, Shayma M.
Rafat, Safanah Mazhar
Source
Iraqi Journal of Computer, Communications and Control Engineering
Issue
Vol. 16, Issue 1 (30 Apr. 2016), pp.11-19, 9 p.
Publisher
Publication Date
2016-04-30
Country of Publication
Iraq
No. of Pages
9
Main Subjects
Engineering & Technology Sciences (Multidisciplinary)
Abstract EN
This paper presents a fuzzy based adaptive controller for a three-axis SCARA robot (Selective Compliance Articulated Robot Arm) in the presence of non- linearities, uncertainties and external perturbations.
The nonlinear system is treated as a partially known system.
The known dynamic is used to design a nominal feedback controller based on the well-known feedback linearization method and Proportional Derivative (PD) controller.
A fuzzy Proportional Integral (fuzzy-PI) based adaptive tracking controller is applied to further improves the control action.
Compensation for the effects of the system uncertainties have been achieved and noticeable improvement of the tracking performance has been obtained.
The improvements are based on simplified controller design and improved performance characteristics in terms of highly reduced maximum absolute error.
American Psychological Association (APA)
Rafat, Safanah Mazhar& Mahdi, Shayma M.. 2016. Improved trajectory tracking control for a three axis SCARA robot using fuzzy logic. Iraqi Journal of Computer, Communications and Control Engineering،Vol. 16, no. 1, pp.11-19.
https://search.emarefa.net/detail/BIM-689438
Modern Language Association (MLA)
Rafat, Safanah Mazhar& Mahdi, Shayma M.. Improved trajectory tracking control for a three axis SCARA robot using fuzzy logic. Iraqi Journal of Computer, Communications and Control Engineering Vol. 16, no. 1 (2016), pp.11-19.
https://search.emarefa.net/detail/BIM-689438
American Medical Association (AMA)
Rafat, Safanah Mazhar& Mahdi, Shayma M.. Improved trajectory tracking control for a three axis SCARA robot using fuzzy logic. Iraqi Journal of Computer, Communications and Control Engineering. 2016. Vol. 16, no. 1, pp.11-19.
https://search.emarefa.net/detail/BIM-689438
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 19
Record ID
BIM-689438