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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...

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Main Authors: Marwan, A., Nagi, F., Sahari, K.S.M., Hanim, S.
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Published: 2018
Online Access:http://dspace.uniten.edu.my/jspui/handle/123456789/7007
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spelling my.uniten.dspace-70072018-02-19T03:32:54Z Robust fuzzy MIMO Bang-Bang controller for two links robot manipulators Marwan, A. Nagi, F. Sahari, K.S.M. Hanim, S. 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. 2018-01-11T08:27:56Z 2018-01-11T08:27:56Z 2011 http://dspace.uniten.edu.my/jspui/handle/123456789/7007
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/
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.
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author Marwan, A.
Nagi, F.
Sahari, K.S.M.
Hanim, S.
spellingShingle Marwan, A.
Nagi, F.
Sahari, K.S.M.
Hanim, S.
Robust fuzzy MIMO Bang-Bang controller for two links robot manipulators
author_facet 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 2018
url http://dspace.uniten.edu.my/jspui/handle/123456789/7007
_version_ 1644494080217972736
score 13.160551

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