Академический Документы
Профессиональный Документы
Культура Документы
org/gpai/ Global Pe rspectives on Artificial Inte llige nce (GPAI) Volume 1 Issue 1, January 2013
8
Global Pe rspective s on Artificial Inte llige nce (GPAI) Volume 1 Issue 1, January 2013 www.se ipub.org/gpai/
mathematical tunable gain method was to reduce the sources of nonlinearities in FLC. However its possible
fuzzy logic controller limitations. Simulation results to construct a rule base with linear input-output
showed that the number of fuzzy rules could be characteristics.
significantly reduced using the proposed method. A FPD controller is a fuzzified proportional-derivative
Kumar et al. compare the results obtained by PID and (PD) controller. It acts on the same input signals, but
fuzzy controllers to control the 5DOF Lynx6 robot arm the control strategy is formulated as fuzzy rules. The
to reach the specified location with minimum error FPD controller has three gains, which are mainly for
while meeting certain specification. The results tuning the response, and they can also be used for
showed that using fuzzy controller, a slight scaling the input signal onto the input universe to
exploit it better, where the crisp proportional
modification in the response of each individual motor
derivative controller has only two gains which make it
for step input with various values of disturbances
flexible and better. A typical structure of FPD
could be achieved.
controller is shown in FIG2. It has two inputs; the error
The aim of this paper is to control the CRS CataLyst- signal e and the change of the error de/dt. The first
5T robot arm using PD fuzzy controller. The input will be transformed from value 'e' into the value
performance of the proposed controller is investigated 'E' after multiplication with the error gain GE [Jantzen].
and compared with conventional PD controller. Two (1)
E = GE * e
types of the reference trajectories are applied for the
first three joint; namely sine trajectory and By the same procedure, the second input will be
randomsteps trajectories. transformed from value de/dt ' into the value 'CE'
after multiplication with the change of error gain GCE.
Overview Of PD Fuzzy Controller de (2)
CE = GCE *
Fuzzy control FC is a control method based on fuzzy dt
logic, which can be described simply as control with
sentences rather than equations[Jantzen]. One of the
most important advantages of fuzzy control is that it
can be successfully applied to control nonlinear
complex systems using operator experiences or control
engineering knowledge without a mathematical model FIG. 2STRUCTURE OF PD FUZZY CONTROLLER
of the plant. The general structure a FC consititutes of The two fuzzy inputs 'E' and 'CE' are processed by the
three main stages: fuzzification, inference mechanism rule base stage to produce the a new fuzzy variable 'u'
and defuzzification as shown in FIG 1. which will be transformed into the value 'U' after
multiplication with the output gain GU.
(3)
9
www.se ipub.org/gpai/ Global Pe rspectives on Artificial Inte llige nce (GPAI) Volume 1 Issue 1, January 2013
Experimental Work
10
Global Pe rspective s on Artificial Inte llige nce (GPAI) Volume 1 Issue 1, January 2013 www.se ipub.org/gpai/
FIG. 5 STRUCTURE OF PD FUZZY CONTROLLER WITH FIG. 7MEMBERS HIP FUNCTION FOR THE SECOND INPUT
SCALLING FACTOR RATE OF ERROR
Implementation of fuzyy PD controller involves the If the error=LN and the error rate=LN then the change
following stages: in control action = LN.
membership function with three linguistic values are Defuzzif ication Stage
applied in the range of -9.5:9.5 as shown in FIG.7 and
therefore The equivalent gain of the change in error Defuzzification is the final stage of the fuzzy logic
membership GCE=output (1)/ input (9.5) =0.105. control. After the inference mechanism is finished, the
defuzzification method converts the resulting fuzzy
Fuzzy Rule Base set into crisp values that can be sent to the joint as a
The collection of rules is called a rule base. The rules control signal. FIG.8 shows the output membership,
are in If.Then format and formally the If side is with five linguistic values (LN, N, Z, P, and LP) in the
called the conditions and the Then side is called the range of -103:103. The equivalent gain of the output
conclusion. For example, the first rule states that: membership GU=output (103)/ input (1) =103.
11
www.se ipub.org/gpai/ Global Pe rspectives on Artificial Inte llige nce (GPAI) Volume 1 Issue 1, January 2013
FIG. 11 SECOND JOINT RES PONSE OF LPD AND FPD FOR S INE
TRAJECTORY
12
Global Pe rspective s on Artificial Inte llige nce (GPAI) Volume 1 Issue 1, January 2013 www.se ipub.org/gpai/
Conclusions
13
www.se ipub.org/gpai/ Global Pe rspectives on Artificial Inte llige nce (GPAI) Volume 1 Issue 1, January 2013
by an average value of 60% for the two different Minimum Rule Base and Mathematical Propose d On-
trajectories. The experimental resultsindicate that the
line Tunable Gain: Applie d to Robot Manipulator,
PD fuzzy controller can achieve good tracking to
International Journal of Artificial Inte llige nce and
different references.Therefore it can applied to
compensate the nonlinear dynamics resulting from Expe rt Systems (IJAE), Volume (2) : Issue (4) : 2011:184-
joint-dependant inertia tensor and velocity coupling 195
matrix. The controller is tested in two modes; offline Sadati N. and Elhamifar E., "Adaptive fuzzy de ce ntralize d
and online. Offline test is implemented on an
control of robot manipulators", Industrial Electronics
experimental dynamic model. Online implementation
and Control Applications, ICIECA 2005.
is performed on the real robot hardware. For both
offline and online modes the control system is able to Santibae z V, Camarillo K., More no-Vale nzue la J, and
satisfy a robust and stable performance. Campa R., A Practical PID Regulator with Bounde d
Torques for Robot Manipulators, Inte rnational Journal
ACKNOWLEDGMENT
of Control, Automation, and Syste ms (2010) 8(3):544-555
The lab facilities used in this work was supported by Siciliano B., Sciavicco L., Villani L., Oriolo G., Robotics:
MEKATRON Tempus Project MEDA JEP-32050-2004 . Mode lling, Planning and Control. Advance d Te xtbooks
in Control and Signal Processing. Springe r-Verlag,
REFERENCES
Be rlin, He ide lbe rg, 2008.
Astroem K.J.,Haegglund T., "The future of PID control", We n J.T.,Murphy S.H., "PID control for robot manipulators",
Control Engineering Practice, Vol 9, 2001: 1163-1175. Re nsse lae r Polyte chnic Institute , CIRSSE,1990.
Be nne tt S., "The past of PID controlle rs", Annual Re vie ws in Catalyst-5T robot arm robot use r guide , 2007.
Control,Vol 25,2001: 43-53. Rowida E. Meligywas born in Cairo.She is ademonstartor at
Jantze n J., Foundations of Fuzzy Control, John Wile y & Sons, the mechatronics division, de partme nt of mechanical
e ngineering, faculty of e ngineering, He lwan Unive rsity,
2007.
Egypt. He r research areasinclude robotics dynamics and
Jin Y., "De centralize d adaptive fuzzy control of robot control.
manipulators", IEEE transactions on systems, man, and
Abdel Halim M. Bassiuny was born in Egypt. He is
cyberne ticspart b: cybe rnetics, vol. 28, no. 1, 1998:47 associate professor at the de partme nt of mechanical
57 e ngineering, faculty of e ngineering, He lwan Unive rsity,
Egypt. His research of inte rests includes fuzzy control,
Kumar C. R., Sudha K. R. and Pushpalatha D. V., Mode lling
ne uro-fuzzy, and adaptive control system theories and the ir
and control of 5DOF Robot Arm using Ne uro-Fuzzy, applications, machine tool dynamics and control, condition
International Journal of Engineering Research & monitoring and mechatronics.Dr.Bassiuny, he was grante d a
DAAD scholarship, during the inte rval 1986-1989, at the
Technology (IJERT), Vol. 1 Issue 7, Se pte mbe r 2012: 1-8
Group of Automatic Control and Te chnical Cybe rnetics,
Ming L., "Stability analysis of dece ntralize d adaptive fuzzy Wuppe rtal Unive rsity, Ge rmany.
logic control for robot arm tracking", 2000. Procee dings
ElsayedM.Bakr was born in Cairo.He is a professor at the
of the 39th IEEE Confe re nce on De cision and Control, de partment of mechanical e nginee ring, faculty of
vol.1 ,2000:883 - 888. e ngineering, He lwan Unive rsity, Egypt.His research areas
include Fle xible Multi-body System Dynamics, Biome dical
Namazov M., Basturk O.,DC motor position control using
Mode ling of Human Spines, Kine matics and Dynamics of
fuzzy proportional-de rivative controlle rs with diffe re nt Fle xible Robot Manipulators, and Mechanics of Le gge d
de fuzzification methods, TJFS: Turkish Journal of Locomotion Systems.
Fuzzy Systems Vol.1, No.1, 2010: , 36-54. AliA.Tantawy was born in Cairo.He is a professor at the
Piltan F., Sulaiman N., Zargari, A. and Keshavarz M. and de partment of mechanical e nginee ring, faculty of
e ngineering, He lwan Unive rsity, Egypt.His research
Badri A., Design PID-Like Fuzzy Controlle r With
areasinclude robotics, matrial handling syste ms and systems
automation.
14