A Fuzzy Logic Controller tuned with PSO for 2 DOF robot trajectory control

Bingül Z. , Karahan O.

EXPERT SYSTEMS WITH APPLICATIONS, cilt.38, ss.1017-1031, 2011 (SCI İndekslerine Giren Dergi) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 38
  • Basım Tarihi: 2011
  • Doi Numarası: 10.1016/j.eswa.2010.07.131
  • Sayfa Sayıları: ss.1017-1031


In this paper, a 2 DOF planar robot was controlled by Fuzzy Logic Controller tuned with a particle swarm optimization. For a given trajectory, the parameters of Mamdani-type-Fuzzy Logic Controller (the centers and the widths of the Gaussian membership functions in inputs and output) were optimized by the particle swarm optimization with three different cost functions. In order to compare the optimized Fuzzy Logic Controller with different controller, the PID controller was also tuned with particle swarm optimization. In order to test the robustness of the tuned controllers, the model parameters and the given trajectory were changed and the white noise was added to the system. The simulation results show that Fuzzy Logic Controller tuned by particle swarm optimization is better and more robust than the PID tuned by particle swarm optimization for robot trajectory control. (C) 2010 Elsevier Ltd. All rights reserved.