Real-time on line tuning of fuzzy controller for two-link rigid�flexible robot manipulators

• Main Authors: Marwan A., Farrukh N., Sahari K., Hanim S.
• Other Authors: 38361890100
• Format: Article
• Published: 2023
• Subjects: Bang-bang control; online self-tuning; rigid-flexible manipulators; Bang bang control systems; Feedback control; Flexible manipulators; Fuzzy control; Fuzzy logic; Industrial robots; MIMO systems; Modular robots; Robot applications; Sliding mode control; Steepest descent method; Bang-Bang control; Different operating conditions; Flexible robot manipulators; Fuzzy logic controllers; Multi input multi output; On-line self-tuning; Rigid-flexible manipulators; Sliding mode controller; Controllers
• Institution: Universiti Tenaga Nasional

In this paper, an online time self-tuning multi-input�multi-output (MIMO) fuzzy bang-bang controller (FBBC) is proposed for the control of two-link rigid and flexible robot manipulators. Two-link rigid and flexible robot manipulators are highly non-linear plants. The fuzzy control is based on the Ta...