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Modified DE-based Fuzzy PD Controller for UP6 Manipulator

by Duc Hoang Nguyen
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International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 185 - Number 38
Year of Publication: 2023
Authors: Duc Hoang Nguyen
10.5120/ijca2023923190

Duc Hoang Nguyen . Modified DE-based Fuzzy PD Controller for UP6 Manipulator. International Journal of Computer Applications. 185, 38 ( Nov 2023), 36-40. DOI=10.5120/ijca2023923190

@article{ 10.5120/ijca2023923190,
author = { Duc Hoang Nguyen },
title = { Modified DE-based Fuzzy PD Controller for UP6 Manipulator },
journal = { International Journal of Computer Applications },
issue_date = { Nov 2023 },
volume = { 185 },
number = { 38 },
month = { Nov },
year = { 2023 },
issn = { 0975-8887 },
pages = { 36-40 },
numpages = {9},
url = { https://ijcaonline.org/archives/volume185/number38/32941-2023923190/ },
doi = { 10.5120/ijca2023923190 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Journal Article
%1 2024-02-07T01:28:08.086966+05:30
%A Duc Hoang Nguyen
%T Modified DE-based Fuzzy PD Controller for UP6 Manipulator
%J International Journal of Computer Applications
%@ 0975-8887
%V 185
%N 38
%P 36-40
%D 2023
%I Foundation of Computer Science (FCS), NY, USA
Abstract

The paper proposes a method using modified differential evolution to tune the parameters of the fuzzy PD controller for regulating the MOTOMAN UP6 robot manipulator. In this paper, the modified differential evolution is based on a combination of DE mutation strategies: "DE/rand/1" and "DE/best/1". The proposed method is used to find the optimal parameters of a fuzzy PD controller. Simulated results show that the modified DE-based fuzzy PD controller improves settling time response significantly.

References
  1. Mai, T.A., Dang, T.S. 2021. Optimal fuzzy PD control for a two-link robot manipulator based on stochastic fractal search. Eur. Phys. J. Spec. Top. 230, 3935–3945.
  2. Zhang, Y., Kim, D., Zhao, Y. et al. 2020. PD Control of a Manipulator with Gravity and Inertia Compensation Using an RBF Neural Network. Int. J. Control Autom. Syst. 18, 3083–3092.
  3. Urrea, Claudio, John Kern, and Johanna Alvarado. 2020. Design and Evaluation of a New Fuzzy Control Algorithm Applied to a Manipulator Robot. Applied Sciences 10, 7482.
  4. Industrial Robot MOTOMAN-UP6, MOTOMAN ROBOTICS EUROPE AB.
  5. Duc Hoang Nguyen. 2018. Dynamic Parameter Identification of UP6 Robot Manipulator using SFLA. International Journal of Computer Applications 182.
  6. Storn R, Price K. 1997. Differential evolution—a simple and efficient heuristic for global optimization over continuous spaces. J Glob Optim 11:341–359
  7. S. Das and P. N. Suganthan. 2011. Differential Evolution: A Survey of the State-of-the-Art. IEEE Transactions on Evolutionary Computation, vol. 15, no. 1, pp. 4-31.
  8. Zhu, L., Ma, Y. & Bai, Y. 2020. A self-adaptive multi-population differential evolution algorithm. Nat Comput 19, 211–235.
  9. A. Baştuğ and C. Karakuzu. 2017. Comparison of heuristic algorithms with performance metrics on multimodal benchmark functions. International Conference on Computer Science and Engineering (UBMK), Antalya, Turkey, pp. 1078-1083.
Index Terms

Computer Science
Information Sciences

Keywords

Optimization DE Fuzzy PD controller Manipulator.

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