Fuzzy-PI Conroller Tuned With GWO, WOA And TLBO For 2 DOF Robot Trajectory Control

Authors

  • Mourad Achouri
  • Youcef Zennir
  • Cherif Tolba

DOI:

https://doi.org/10.51485/ajss.v7i1.150

Keywords:

Fuzzy-PI, GWO, WOA, TLBO, Robot trajectory control

Abstract

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

Download data is not yet available.

Downloads

Published

2022-03-31

How to Cite

[1]
Achouri, M., Zennir, Y. and Tolba, C. 2022. Fuzzy-PI Conroller Tuned With GWO, WOA And TLBO For 2 DOF Robot Trajectory Control. Algerian Journal of Signals and Systems . 7, 1 (Mar. 2022), 1-6. DOI:https://doi.org/10.51485/ajss.v7i1.150.

Issue

Section

Articles