الفهرس | Only 14 pages are availabe for public view |
Abstract Accurate positioning is an important desired feature of robotic manipulators, and controlling these complicated systems with their high nonlinearity and coupling effect is a difficult task. Nevertheless, there has been a significant and fast progress in this field of control in the recent years, and different control strategies have been suggested to solve this problem. A vast majority of these control schemes are model based, where the dynamic model of the controlled system must be known. On many occasions it is not easy to obtain a precise dynamic model of the robotic manipulator due to the presence of structured and unstructured uncertainties and external disturbances. Therefore, many control schemes have been presented to deal with unknown dynamic models of robotic manipulators. This thesis focuses on finding a solution for the robotic manipulator uncertainties through designing and implementing a robust controller that can compensate those uncertainties. In this thesis, the proposed 2-DOF fuzzy PD (FPD) controller is developed by combining the advantages of 2-DOF structure and fuzzy structure to produce another more robust controller. The analytical structure of the proposed 2-DOF FPD controller is derived to obtain the relationship between the inputs and output of the controller. Moreover, the proposed adaptive 2-DOF PID controller is adapted by using the advantages of supervisory fuzzy logic system (FLS). The main advantage of using the proposed controllers for controlling the robot manipulator is obtaining a high performance for this nonlinear system. All the proposed methods are performed in simulation using MATLAB environment and are practically implemented using Arduino Mega 2560 microcontroller board. The performance analyses for both simulation and experimentation proved that the proposed controllers have a better performance compared to other existing schemes. Also, the proposed controllers are more robust in the case of the presence of disturbances or other variations. |