Rule-Based Fuzzy Control of a Two-DOF Robot manipulator Optimized by Evolutionary Algorithms

A method for regulating two-DOF robot manipulators based on fuzzy control approach is presented. In this controller, system uncertainties are addressed with fuzzy rules, but for getting the best result without any oscillations which inherently fuzzy controllers face with them, optimization algorithms are utilized. Fuzzy antecedents and consequents are optimized by evolutionary approaches which are known as population-based algorithms, and thus these algorithms rarely get trapped in local extremums. Genetic algorithm (GA) and particle swarm optimization (PSO) are implemented as population-based algorithms and computer simulations are used to compare the results of these two methods. Effectiveness of the proposed control approach has been shown by these simulations, and then the best optimization method for this case is introduced

کلیدواژه ها:

fuzzy controller ، two-DOF robot manipulator ، genetic algorithm ، particle swarm optimization