Open AccessDESIGNING HEDGE ALGEBRAIC CONTROLLER AND OPTIMIZING BY GENETIC ALGORITHM FOR SERIAL ROBOTS ADHERING TRAJECTORIES
Author(s) -
Nguyễn Tiến Duy,
Vu Duc Vuong
Publication year - 2020
Publication title -
journal of computer science and cybernetics (vietnam academy of science and technology)/journal of computer science and cybernetics
Language(s) - English
Resource type - Journals
eISSN - 2815-5939
pISSN - 1813-9663
DOI - 10.15625/1813-9663/36/3/14349
Subject(s) - robot , controller (irrigation) , computer science , hedge , matlab , control engineering , genetic algorithm , fuzzy logic , control theory (sociology) , software , field (mathematics) , control (management) , algorithm , artificial intelligence , mathematics , engineering , machine learning , programming language , ecology , pure mathematics , agronomy , biology
In recent years, the application of hedge algebras in the field of control has been studied. The results show that this approach has many advantages. In additions, industrial robots are being well-developed and extensively used, especially in the industrial revolution 4.0. Accurate control of industrial robots is a class of problems that many scientists are interested in. In this paper, we design a controller based on hedge algebra for serial robots. The control rule is given by linguistic rule base system. The goal is to accurately control the moving robot arm which adheres given trajectories. Optimization of fuzzy parameters for the controller is done by genetic algorithms. The system has been simulated on the Matlab-Simulink software. The simulation results show that the orbital deviation is very small. Moreover, the controller worked well with correct control quality. This result once presents the simplicity and efficiency of the hedge algebras approach to control.