The dynamics of robot manipulators are highly nonlinear with strong couplings existing between joints and are frequently subjected to structured and unstructured uncertainties. Fuzzy Logic Controller can very well describe the desired system behavior with simple “if-then” relations owing the designer to derive “if-then” rules manually by trial and error. On the other hand, Neural Networks perfo...

The proportional-integral-derivative (PID) controller is tuned to find its parameters values. Generally most of the tuning methods depend mainly on the experimental approach of open-loop unit step response. The controller parameters can be found if the system truly can be approximated by First Order Plus-Dead Time (FOPDT). The performance of most of them deteriorates as the ratio of approximate...

An algorithm based on fuzzy-repetitive control for the output waveform compensation of single-phase CVCF inverters is presented. The performance of CVCF inverters is evaluated in terms of output voltage waveform distortion with linear or nonlinear loads and transient response due to sudden changes in the load. The fuzzy PD controller is used to improve transient performance whenever the system ...

In the first part of this paper, we investigate explicit structure of the typical Takagi– Sugeno (TS) fuzzy PI and PD controllers. By typical, we mean the use of at least three trapezoidal or triangular input fuzzy sets for each input variable, fuzzy rules with linear consequent, Zadeh fuzzy logic AND operator and the centroid defuzzifier. This configuration covers many TS fuzzy controllers in ...

This paper investigates the control strategy for the electrical energy input to three phase electric arc ferrosilicon furnace. The classical PD fuzzy logic controller has two inputs. These inputs are the error in the V-I characteristic and the rate of the error in V-I characteristic. When the simulation result of this controller is compared with conventional PD type, it was shown that requires ...

Abstract In this paper, a flexible robotic arm system was designed and constructed based on the aspect ratio of arms. The mathematical modeling derived using finite element method. addition, necessary information about dynamic behavior suggested collected used to design controllers knowledge fuzzy logic theory. purpose building perform different movements while ensure accuracy model. This achie...

The fuzzy switched PID controller which combines fuzzy PD and conventional PI controller is proposed for ship track-keeping autopilot In this paper. By using rudder angle, the whole voyage is divided into two operating regimes which named transient operating regime and steady operating regime respectively. The fuzzy PD controller is employed in transient operating regime for increasing response...

In this article, we look at the excellent effect of vertical force as regards the stabilization of the inverted pendulum (IP) and demonstrate how the fuzzy control design methodology can be used to construct a hybrid fuzzy control system that incorporates PD control into a Takagi–Sugeno fuzzy control structure for stabilizing the IP via a vertical force. By gaining an intuitive understanding of...

An adaptive fuzzy PID controller with gain scheduling is proposed in this paper. The structure of the proposed gain scheduled fuzzy PID (GS_FPID) controller consists of both fuzzy PI-like controller and fuzzy PD-like controller. Both of fuzzy PI-like and PD-like controllers are weighted through adaptive gain scheduling, which are also determined by fuzzy logic inference. A modified genetic algo...

A fuzzy autopilot for track-keeping control of underwater vehicles is considered. Input variables fuzzification, fuzzy rules and output set defuzzification are described. Quality of control of the fuzzy tracking controller under influence of the sea current disturbance was analysed and compared to a traditional PD controller. Some computer simulations are provided to demonstrate the effectivene...