A Fuzzy Logic Controller tuned with PSO for 2 DOF robot trajectory control

被引：179

作者：

Bingul, Zafer ^{[1
]}

Karahan, Oguzhan ^{[1
]}

机构：

[1] Kocaeli Univ, Dept Mechatron Engn, Kocaeli, Turkey

来源：

EXPERT SYSTEMS WITH APPLICATIONS | 2011年 / 38卷 / 01期

关键词：

Fuzzy Logic Controller; PSO; PID; Robot trajectory control; PID CONTROLLERS; DESIGN; SYSTEM;

D O I：

10.1016/j.eswa.2010.07.131

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper, a 2 DOF planar robot was controlled by Fuzzy Logic Controller tuned with a particle swarm optimization. For a given trajectory, the parameters of Mamdani-type-Fuzzy Logic Controller (the centers and the widths of the Gaussian membership functions in inputs and output) were optimized by the particle swarm optimization with three different cost functions. In order to compare the optimized Fuzzy Logic Controller with different controller, the PID controller was also tuned with particle swarm optimization. In order to test the robustness of the tuned controllers, the model parameters and the given trajectory were changed and the white noise was added to the system. The simulation results show that Fuzzy Logic Controller tuned by particle swarm optimization is better and more robust than the PID tuned by particle swarm optimization for robot trajectory control. (C) 2010 Elsevier Ltd. All rights reserved.

引用

页码：1017 / 1031

页数：15

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