ANFIS Technique Applied to the Control of a Robot Manipulator with Disturbances

Abstract

The objective of this paper is to propose an ANFIS (Adaptive Network based Fuzzy Interference System) technique, which enables the controller to obtain different combinations of gain (Kp and Kd) with disturbance signals to reflect the real time performance of the manipulator. The outputs of these controllers are used to produce the final actuation signal based on current position errors. Numerical simulation using PD, Fuzzy+PD and ANFIS+PD is also determined and compared. Finally, the results of simulations indicates that, ANFIS based controllers reduce the position tracking error in a more effective manner. Thus the proposed ANFIS based controller works effectively in the tracking control of a robot manipulator © 2012 Published by Elsevier Ltd. Selection and/or peer-review under responsibility of Noorul Islam Centre for Higher Education