On-line adaptive fuzzy switching controller for SCARA robot

• Main Authors: Marwan A., Nagi F., Sahari K., Hanim S., Fadi I.
• Other Authors: 38361890100
• Format: Article
• Published: 2023
• Subjects: Educational robotics; Fuzzy switching control; Online self-tuning; SCARA robot; Two-link manipulators; xPC target; Fuzzy control; Identification (control systems); Machine design; Manipulators; Real time control; Robotics; Robots; Steepest descent method; Switching; On-line self-tuning; Two-link manipulator; Controllers

This paper presents the design, development and implementation of a new on-line adaptive MIMO switching controller (FSC) for real-time tracking control of an industrial SCARA robot. Two link SCARA robot is a nonlinear plant. The fuzzy control is based on the Takagi-Sugeno's type fuzzy architect...