The simulation hybrid fuzzy control of SCARA robot

Authors:
Marius-Constantin Popescu;Ilie Borcosi;Onisifor Olaru;Luminita Popescu;Florin Grofu
Affiliations:
Department of Electromechanics, University of Craiova, Craiova and Department of Automatics and Informatics, University of C-tin Brancusi, Gorj, Romania;Department of Electromechanics, University of Craiova, Craiova and Department of Automatics and Informatics, University of C-tin Brancusi, Gorj, Romania;Department of Electromechanics, University of Craiova, Craiova and Department of Automatics and Informatics, University of C-tin Brancusi, Gorj, Romania;Department of Electromechanics, University of Craiova, Craiova and Department of Automatics and Informatics, University of C-tin Brancusi, Gorj, Romania;Department of Electromechanics, University of Craiova, Craiova and Department of Automatics and Informatics, University of C-tin Brancusi, Gorj, Romania
Venue:
WSEAS Transactions on Systems and Control
Year:
2008

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Abstract

This paper presents the simulation of a Hybrid Fuzzy Controller suitable for industrial applications. The developed Hybrid Fuzzy Controller consists of a weighted combination of the Direct Fuzzy Controller and Indirect Fuzzy Controller and a gradually activated supervisory controller. The unique feature of the Hybrid Fuzzy Controller is that no mathematical models of the plant are required and the proposed controller is able to adequately estimate the bound functions on-line, which are required for the determination of the supervisory controller. The supervisor controller in the sense that all signals are bounded guarantees global stability of the closed-loop system. The approach of rapid prototyping is utilized to implement the Hybrid Fuzzy Controller so as to control a Selectively Compliance Assembly Robot Arm. Simulink, an interactive graphical software for simulating dynamic systems, is used to model, simulate and analyse the dynamic system.