An enhanced hybrid fuzzy logic controller for robotic manipulator

Abstract

Being complex coupled and uncertain systems, the robotic manipulators are diffiult to control. For designing any control scheme, it is necessary to measure differential signals along with position signals which are difficult to acquire properly as the differential signals may contaminate with noise. Another major issue faced in this area is the coupling effect between the links which should be eliminated by decoupling both the links. In this paper, an enhanced hybrid fuzzy logic controller (EHFLC) scheme having tracking diffrentiator and two additional FLCs, is developed for a 2-degree-of-freedom rigid robotic manipulator with payload (2-DOF RRMP) for trajectory tracking problem. The cuckoo search algorithm (CSA) is applied for obtaining the optimum controller parameters. To see the effectiveness of the proposed scheme, it is compared with conventional FLC (CFLC) approach.