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Reseach Article

Modified DE-based Fuzzy PD Controller for UP6 Manipulator

by Duc Hoang Nguyen
International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 185 - Number 38
Year of Publication: 2023
Authors: Duc Hoang Nguyen
10.5120/ijca2023923190

Duc Hoang Nguyen . Modified DE-based Fuzzy PD Controller for UP6 Manipulator. International Journal of Computer Applications. 185, 38 ( Nov 2023), 36-40. DOI=10.5120/ijca2023923190

@article{ 10.5120/ijca2023923190,
author = { Duc Hoang Nguyen },
title = { Modified DE-based Fuzzy PD Controller for UP6 Manipulator },
journal = { International Journal of Computer Applications },
issue_date = { Nov 2023 },
volume = { 185 },
number = { 38 },
month = { Nov },
year = { 2023 },
issn = { 0975-8887 },
pages = { 36-40 },
numpages = {9},
url = { https://ijcaonline.org/archives/volume185/number38/32941-2023923190/ },
doi = { 10.5120/ijca2023923190 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Journal Article
%1 2024-02-07T01:28:08.086966+05:30
%A Duc Hoang Nguyen
%T Modified DE-based Fuzzy PD Controller for UP6 Manipulator
%J International Journal of Computer Applications
%@ 0975-8887
%V 185
%N 38
%P 36-40
%D 2023
%I Foundation of Computer Science (FCS), NY, USA
Abstract

The paper proposes a method using modified differential evolution to tune the parameters of the fuzzy PD controller for regulating the MOTOMAN UP6 robot manipulator. In this paper, the modified differential evolution is based on a combination of DE mutation strategies: "DE/rand/1" and "DE/best/1". The proposed method is used to find the optimal parameters of a fuzzy PD controller. Simulated results show that the modified DE-based fuzzy PD controller improves settling time response significantly.

References
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  4. Industrial Robot MOTOMAN-UP6, MOTOMAN ROBOTICS EUROPE AB.
  5. Duc Hoang Nguyen. 2018. Dynamic Parameter Identification of UP6 Robot Manipulator using SFLA. International Journal of Computer Applications 182.
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Index Terms

Computer Science
Information Sciences

Keywords

Optimization DE Fuzzy PD controller Manipulator.