Fuzzy-PI Conroller Tuned With GWO, WOA And TLBO For 2 DOF Robot Trajectory Control
DOI:
https://doi.org/10.51485/ajss.v7i1.150Keywords:
Fuzzy-PI, GWO, WOA, TLBO, Robot trajectory controlAbstract
In this study, a manipulator robot with two degrees of freedom was controlled by Fuzzy-PI adjust by three meta-heuristic algorithms (Grey wolf optimizer (GWO), Whale Optimization Algorithm (WOA) and Teaching–learning-based optimization (TLBO)). The scale factors of the fuzzy system of the takagi-soguno type (the width of the membership functions) and the parameters of PI were optimized by those three algorithms under the cost function of the absolute magnitude of the mean error (MAE). In order to investigate the robustness of the proposed controller we considered the friction forces. The results of the simulation prove the controller's effectiveness to follow a given trajectory.
Downloads
Downloads
Published
How to Cite
Issue
Section
License
Copyright (c) 2022 Mourad Achouri, Youcef Zennir, Cherif Tolba

This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.