PD-Fuzzy Controller Tuned with PSO for Robot Trajectory Control

AbstractIn this paper, a 2 DOF planar robot was controlled by Mamdani type-PD-Fuzzy Logic Controller (FLC) tuned with particle swarm algorithm (PSO). In a tuning process of PD-FLC, several trajectories were applied to the robot system. The parameters of fuzzy controller were updated based on squared mean error cost function. The PD-FLC tuned by PSO was tested with a different trajectory. The error of the joints occurred between 0.1331 and -1.8455e-4 for this trajectory. The simulation results obtained from this study show that the PD-FLC can achieve a good performance for any given trajectory.