Application of Fuzzy Logic Controllers for Laser Tracking with Autonomous Robot System

Abstract

AbstractThis paper presented an application of fuzzy logic controller for high accuracy laser tracking with autonomous robot system. A main point of a laser tracking system design was to integrate electrical, optical and fuzzy logic theory. The research was conducted for laser tracking system in fuzzy logic control from the observations. The parameters of the input were obtained by measuring a large number throughout the measuring procedure. The measurement accuracy was 0.1 mm over the measurement workspace. The measurement accuracy of the laser beam was about 120 (m for a workspace of a 3x3x3 m3. The system obtained satisfactory transient responses. The overshoot was 5.0% and steady-state error was 4.5% to satisfy the steady state error requirements. Simulation results have shown the advantage of fuzzy logic controller in respect of its transient response, steady-state response, and tracking performance.