Robust Fuzzy Control for 2-DOF Manipulator System

摘要

Robot manipulators have become increasingly important in the field of automation. So modelling and control of robots in automation will be very important. This paper presents a study of robust control approach employing fuzzy logic control technique for two degree of freedom (2-DOF) manipulator robot. A learning control system is designed so that its “learning mechanism” has the ability to improve the performance of the closed-loop system by generating command inputs to the plant and utilizing feedback information from the plant. It is well known that robotic manipulators are highly nonlinear coupling dynamic systems. A fuzzy logic rule base is designed, using the knowledge obtained from the operator. Simulation is performed to demonstrate the effectiveness of control strategy. Furthermore, the parameters of the controllers were optimized using MATLAB and simulations' result reveals that control scheme is working satisfactorily.