<abstract xmlns="http://www.w3.org/1999/xhtml"><p>In this paper, an optimal fuzzy controller based on the Teaching-Learning-Based Optimization (TLBO) algorithm has been presented for the stabilization of a two-link planar horizontal under-actuated manipulator with two revolute (2R) joints. For the considered fuzzy control method, a singleton fuzzifier, a centre average defuzzifier and a product inference engine have been used. The TLBO algorithm has been implemented for searching the optimum parameters of the fuzzy controller with consideration of time integral of the absolute error of the state variables as the objective function. The proposed control method has been utilized for the 2R under-actuated manipulator with the second passive joint wherein the model moves in the horizontal plane and friction forces have been considered. Simulation results of the offered control method have been illustrated for the stabilization of the considered robot system. Moreover, for different initial conditions, the effectiveness and the robustness of the mentioned strategy have been challenged.</p></abstract>

In this paper, an optimal fuzzy controller based on the Teaching-Learning-Based Optimization (TLBO) algorithm has been presented for the stabilization of a two-link planar horizontal under-actuated manipulator with two revolute (2R) joints. For the considered fuzzy control method, a singleton fuzzifier, a centre average defuzzifier and a product inference engine have been used. The TLBO algorithm has been implemented for searching the optimum parameters of the fuzzy controller with consideration of time integral of the absolute error of the state variables as the objective function. The proposed control method has been utilized for the 2R under-actuated manipulator with the second passive joint wherein the model moves in the horizontal plane and friction forces have been considered. Simulation results of the offered control method have been illustrated for the stabilization of the considered robot system. Moreover, for different initial conditions, the effectiveness and the robustness of the mentioned strategy have been challenged.

Design of an Optimal Fuzzy Controller of an Under-Actuated Manipulator Based on Teaching-Learning-Based Optimization

Acta Mechanica et Automatica

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

In this paper, an optimal fuzzy controller based on the Teaching-Learning-Based Optimization (TLBO) algorithm has been presented for the stabilization of a...

Design of an Optimal Fuzzy Controller of an Under-Actuated Manipulator Based on Teaching-Learning-Based Optimization

Published Online: Nov 05, 2019

Page range: 166 - 172

Received: Apr 24, 2019

Accepted: Sep 24, 2019

DOI: https://doi.org/10.2478/ama-2019-0022

Keywords
Optimal controller, Fuzzy control, Teaching-learning-based optimization, Under-actuated system, 2R planar horizontal manipulator

© 2019 Mohammad Javad Mahmoodabadi et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Design of an Optimal Fuzzy Controller of an Under-Actuated Manipulator Based on Teaching-Learning-Based Optimization

Published Online: Nov 05, 2019

Page range: 166 - 172

Received: Apr 24, 2019

Accepted: Sep 24, 2019

DOI: https://doi.org/10.2478/ama-2019-0022

KeywordsOptimal controller, Fuzzy control, Teaching-learning-based optimization, Under-actuated system, 2R planar horizontal manipulator

© 2019 Mohammad Javad Mahmoodabadi et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Keywords
Optimal controller, Fuzzy control, Teaching-learning-based optimization, Under-actuated system, 2R planar horizontal manipulator