Volume 10 Number 3
June 2013
Article Contents
Majid Moradi Zirkohi, Mohammad Mehdi Fateh and Mahdi Aliyari Shoorehdeli. Type-2 Fuzzy Control for a Flexible-joint Robot Using Voltage Control Strategy. International Journal of Automation and Computing, vol. 10, no. 3, pp. 242-255, 2013. doi: 10.1007/s11633-013-0717-x
Cite as: Majid Moradi Zirkohi, Mohammad Mehdi Fateh and Mahdi Aliyari Shoorehdeli. Type-2 Fuzzy Control for a Flexible-joint Robot Using Voltage Control Strategy. International Journal of Automation and Computing, vol. 10, no. 3, pp. 242-255, 2013. doi: 10.1007/s11633-013-0717-x

Type-2 Fuzzy Control for a Flexible-joint Robot Using Voltage Control Strategy

Author Biography:
  • Mohammad Mehdi Fateh received the B. Sc. degree from Isfahan University of Technology, Iran in 1988, the M. Sc. de-gree in electrical engineering from Tarbiat Modares University, Iran in 1991, and the Ph.D. degree from Southampton Univer-sity, UK in 2001. He is a full professor at Department of Electrical and Robotic En-gineering, Shahrood University of Technol-ogy, Iran. His research interests include nonlinear control, fuzzy control, robotics, intelligent systems, mechatronics and automation. E-mail: mmfateh@sharoodut.ac.ir

  • Corresponding author: Majid Moradi Zirkohi
  • Received: 2012-06-27
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Type-2 Fuzzy Control for a Flexible-joint Robot Using Voltage Control Strategy

  • Corresponding author: Majid Moradi Zirkohi

Abstract: Type-1 fuzzy sets cannot fully handle the uncertainties. To overcome the problem, type-2 fuzzy sets have been proposed. The novelty of this paper is using interval type-2 fuzzy logic controller (IT2FLC) to control a flexible-joint robot with voltage control strategy. In order to take into account the whole robotic system including the dynamics of actuators and the robot manipulator, the voltages of motors are used as inputs of the system. To highlight the capabilities of the control system, a flexible joint robot which is highly nonlinear, heavily coupled and uncertain is used. In addition, to improve the control performance, the parameters of the primary membership functions of IT2FLC are optimized using particle swarm optimization (PSO). A comparative study between the proposed IT2FLC and type-1 fuzzy logic controller (T1FLC) is presented to better assess their respective performance in presence of external disturbance and unmodelled dynamics. Stability analysis is presented and the effectiveness of the proposed control approach is demonstrated by simulations using a two-link flexible-joint robot driven by permanent magnet direct current motors. Simulation results show the superiority of the IT2FLC over the T1FLC in terms of accuracy, robustness and interpretability.

Majid Moradi Zirkohi, Mohammad Mehdi Fateh and Mahdi Aliyari Shoorehdeli. Type-2 Fuzzy Control for a Flexible-joint Robot Using Voltage Control Strategy. International Journal of Automation and Computing, vol. 10, no. 3, pp. 242-255, 2013. doi: 10.1007/s11633-013-0717-x
Citation: Majid Moradi Zirkohi, Mohammad Mehdi Fateh and Mahdi Aliyari Shoorehdeli. Type-2 Fuzzy Control for a Flexible-joint Robot Using Voltage Control Strategy. International Journal of Automation and Computing, vol. 10, no. 3, pp. 242-255, 2013. doi: 10.1007/s11633-013-0717-x
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