- Garg, Devendra P. and Kumar, Manish, Genetic algorithm based PD control and fuzzy logic control of a two link robot,
American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC, vol. 71
pp. 209 - 216 .
(last updated on 2007/04/10)
This paper presents two schemes for the control of robotic manipulator systems. The first method is based on proportional plus derivative (PD) control with the PD controller gain parameters optimized via Genetic Algorithm (GA). The cost function (or performance index) to be minimized is the time taken by the system to achieve a final desired position. The second scheme is a fuzzy PD controller whose inputs are error and derivative of error. The fuzzy rules have been formulated with common behavior of the system under certain input conditions and defuzzification has been carried out to obtain crisp joint torque values. The configuration considered in the present paper is a two robotic link system.
Manipulators;Three term control systems;Fuzzy control;Nonlinear control systems;Fuzzy sets;Error analysis;Genetic algorithms;Computer simulation;