Paper Info
Title
Inverse Dynamics Based Optimal Fuzzy Controller for a Robot Manipulator via Particle Swarm Optimization
Abstract
AbstractThis paper endeavors to contribute to the field of optimal control via presenting an optimal fuzzy Proportional Derivative (PD) controller for a RPP (Revolute-Prismatic-Prismatic) robot manipulator based on particle swarm optimization and inverse dynamics. The Denavit-Hartenberg approach and the Jacobi method for each of the arms of the robot are employed in order to gain the kinematic equations of the manipulator. Furthermore, the Lagrange method is utilized to obtain the dynamic equations of motion. Hence, in order to control the dynamics of the robot manipulator, inverse dynamics and a fuzzy PD controller optimized via particle swarm optimization are used in this research study. The obtained results of the optimal fuzzy PD controller based on the inverse dynamics are compared to the outcomes of the PD controller, and it is illustrated that the optimal fuzzy PD controller shows better controlling performance in comparison with other controllers.
Year
DOI
Venue
2019
10.1155/2019/5052185
Periodicals
Field
DocType
Volume
Particle swarm optimization,Control theory,Kinematics,Optimal control,PID controller,Computer science,Control theory,Simulation,Lagrange multiplier,Fuzzy logic,Inverse dynamics
Journal
2019
Issue
ISSN
Citations 
1
1687-9600
1
PageRank 
References 
Authors
0.37
19
2
Name
Order
Citations
PageRank
Mohammad Javad Mahmoodabadi1676.23
A. Ziaei210.37