Intelligent control of four DOF robotic arm

Abstract

In this paper; Fuzzy control and Adaptive Network based Fuzzy Interference System (ANFIS) techniques have been investigated for decentralised joint position control of an four DOF robotic arm for desired motion. Four different types of membership functions like Triangular; Pi; Gaussian; Dsigmf are implemented in the fuzzy PD and ANFIS controller. The performance of controller is evaluated and compared in terms of maximum overshoot; settling time and steady state error with conventional PID controller. Simulation results and comparative analysis validates the effectiveness of Fuzzy and ANFIS based controller with the proper selection of membership function for improving the system performance and reducing position tracking error.