Abstract
The purpose of this research is to design a fuzzy logic feedback controller (FLC) in order to control a desired tip angle position a rotary flexible joint robotic arm. The FLC is also employed to dampen the vibration emanated from a rotary flexible joint robotic arm when reaching a desired tip angle position. The performance of FLC is tested in simulation and experiment. It is found that the FLC is successfully designed, applied and tested. The results show that fuzzy logic controller performed satisfactorily control a desired tip angle position and reduce the oscillations.
Highlights
Fuzzy Logic Control has been renowned control approach over the centuries
System performances by using Mamdani fuzzy controller is compared with the system without a controller in simulation and experiment
The fuzzy set membership functions (FSMF) for the inputs are illustrated in Figure 5 to Figure 8
Summary
Fuzzy Logic Control has been renowned control approach over the centuries. Fuzzy set theory was first introduced in a seminar paper by Lotfi Zadeh. During the process of writing a book on linear systems with Charles Desoer in 1963, he noticed that in spite of the richness of the existing mathematical theory of control, we have been able to deal with a very special case of systems that are linear and time invariant, or nonlinear but with a specific property [2]. He traced this problem back to the Aristotelian notion of absolute truth and falsehood, and generalized such notion to the case of partial truth and partial membership in a set
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