Robust Fuzzy MIMO Bang-Bang Controller for two links robot manipulators
In this paper a new fuzzy controller for multi-input-multi-output (MIMO) systems has been proposed. The new MIMO self-tuning robust controller is called as Fuzzy Bang-Bang Controller (FBBC) and is used for rigid-type robot which has two links manipulators. The controller operation is demonstrated by...
Saved in:
Main Authors: | , , , |
---|---|
Other Authors: | |
Format: | Article |
Published: |
2023
|
Subjects: | |
Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
Institution: | Universiti Tenaga Nasional |
id |
my.uniten.dspace-30471 |
---|---|
record_format |
dspace |
spelling |
my.uniten.dspace-304712023-12-29T15:48:15Z Robust Fuzzy MIMO Bang-Bang Controller for two links robot manipulators Marwan A. Nagi F. Sahari K.S.M. Hanim S. 38361890100 56272534200 57218170038 24067645400 Bang-Bang MIMO systems control Robotic manipulators Self-tuning controller In this paper a new fuzzy controller for multi-input-multi-output (MIMO) systems has been proposed. The new MIMO self-tuning robust controller is called as Fuzzy Bang-Bang Controller (FBBC) and is used for rigid-type robot which has two links manipulators. The controller operation is demonstrated by simulation of manipulators movement from any initial position to up and downward positions. The comparison between the proposed controller and Slide Mode Controller (SMC) is carried out for to tracking performance ability. The comparison is based on: the speed of convergences, maximum payload, amplitude and frequency. It was concluded that based on the tables and the simulation results proposed controller is better than slide mode controller (SMC) in handle big load, amplitude and frequency. Final 2023-12-29T07:48:15Z 2023-12-29T07:48:15Z 2011 Article 2-s2.0-84155184500 https://www.scopus.com/inward/record.uri?eid=2-s2.0-84155184500&partnerID=40&md5=b681b4a65e8ad447db090affa199ff23 https://irepository.uniten.edu.my/handle/123456789/30471 5 11 2178 2192 Scopus |
institution |
Universiti Tenaga Nasional |
building |
UNITEN Library |
collection |
Institutional Repository |
continent |
Asia |
country |
Malaysia |
content_provider |
Universiti Tenaga Nasional |
content_source |
UNITEN Institutional Repository |
url_provider |
http://dspace.uniten.edu.my/ |
topic |
Bang-Bang MIMO systems control Robotic manipulators Self-tuning controller |
spellingShingle |
Bang-Bang MIMO systems control Robotic manipulators Self-tuning controller Marwan A. Nagi F. Sahari K.S.M. Hanim S. Robust Fuzzy MIMO Bang-Bang Controller for two links robot manipulators |
description |
In this paper a new fuzzy controller for multi-input-multi-output (MIMO) systems has been proposed. The new MIMO self-tuning robust controller is called as Fuzzy Bang-Bang Controller (FBBC) and is used for rigid-type robot which has two links manipulators. The controller operation is demonstrated by simulation of manipulators movement from any initial position to up and downward positions. The comparison between the proposed controller and Slide Mode Controller (SMC) is carried out for to tracking performance ability. The comparison is based on: the speed of convergences, maximum payload, amplitude and frequency. It was concluded that based on the tables and the simulation results proposed controller is better than slide mode controller (SMC) in handle big load, amplitude and frequency. |
author2 |
38361890100 |
author_facet |
38361890100 Marwan A. Nagi F. Sahari K.S.M. Hanim S. |
format |
Article |
author |
Marwan A. Nagi F. Sahari K.S.M. Hanim S. |
author_sort |
Marwan A. |
title |
Robust Fuzzy MIMO Bang-Bang Controller for two links robot manipulators |
title_short |
Robust Fuzzy MIMO Bang-Bang Controller for two links robot manipulators |
title_full |
Robust Fuzzy MIMO Bang-Bang Controller for two links robot manipulators |
title_fullStr |
Robust Fuzzy MIMO Bang-Bang Controller for two links robot manipulators |
title_full_unstemmed |
Robust Fuzzy MIMO Bang-Bang Controller for two links robot manipulators |
title_sort |
robust fuzzy mimo bang-bang controller for two links robot manipulators |
publishDate |
2023 |
_version_ |
1806428244982890496 |