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Erschienen in:
A Novel Design Approach of a Nonlinear Resistor Based on a Memristor Emulator Kapitel lesen Erstes Kapitel lesen

2016 | OriginalPaper | Buchkapitel

Control of Complex Systems Using Self Organizing Fuzzy Controller

verfasst von : Jitendra Kumar, Vineet Kumar, K. P. S. Rana

Erschienen in: Advances in Chaos Theory and Intelligent Control

Verlag: Springer International Publishing

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Abstract

Robotic manipulators are complex multi-input multiple output systems finding lots of application in industries. Controlling such a complex system always has been an area of research owing to the inherent nonlinearities. In this work, a comparative study of Fuzzy Proportional Integral Derivative (FPID) and Self Organizing Fuzzy Controller (SOFC), applied for trajectory tracking and disturbance rejection to a two link planar rigid robotic manipulator with end-effector has been presented. Two layers of fuzzy logic controller (FLC) have been used to design SOFC in which second layer was used for adaptive mechanism and Takagi-Sugeno-Kang method has been used for inference mechanism in both the control schemes. Genetic algorithm (GA) has been used to optimize the gains of FPID and SOFC controllers for minimum Integral of Absolute Error (IAE) and Integral of Absolute Change in Controller Output. Simulation results revealed that SOFC outperformed FPID controller in both servo and regulatory mode. SOFC has offered 23.43 %, 60.50 % and 36.20 % improvements in IAE link-1, IAE link-2 and cost function for trajectory tracking and 35.21 %, 51.34 % and 39.63 % improvements in IAE link-1, IAE link-2 and cost function for disturbance rejection respectively.

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Vorheriges Kapitel Feature Selection and Recognition of Muzzle Point Image Pattern of Cattle by Using Hybrid Chaos BFO and PSO Algorithms
Nächstes Kapitel Comparative Analysis of Different Nature Inspired Optimization Algorithms for Estimation of 3D Chaotic Systems
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Metadaten
Titel
Control of Complex Systems Using Self Organizing Fuzzy Controller
verfasst von
Jitendra Kumar
Vineet Kumar
K. P. S. Rana
Copyright-Jahr
2016
Buch
Advances in Chaos Theory and Intelligent Control

Print ISBN: 978-3-319-30338-3

Electronic ISBN: 978-3-319-30340-6

Copyright-Jahr: 2016

DOI
https://doi.org/10.1007/978-3-319-30340-6_31