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Genetic algorithm based PD control and fuzzy logic control of a two link robot

Publication ,  Journal Article
Garg, DP; Kumar, M
Published in: American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
2002

This paper presents two schemes for the control of robotic manipulator systems. The first method is based on proportional plus derivative (PD) control with the PD controller gain parameters optimized via Genetic Algorithm (GA). The cost function (or performance index) to be minimized is the time taken by the system to achieve a final desired position. The second scheme is a fuzzy PD controller whose inputs are error and derivative of error. The fuzzy rules have been formulated with common behavior of the system under certain input conditions and defuzzification has been carried out to obtain crisp joint torque values. The configuration considered in the present paper is a two robotic link system.

Duke Scholars

Published In

American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC

Publication Date

2002

Volume

71

Start / End Page

209 / 216

Location

New Orleans, LA, United States

Related Subject Headings

  • Industrial Engineering & Automation
 

Citation

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Garg, D. P., & Kumar, M. (2002). Genetic algorithm based PD control and fuzzy logic control of a two link robot. American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC, 71, 209–216.
Garg, Devendra P., and Manish Kumar. “Genetic algorithm based PD control and fuzzy logic control of a two link robot.” American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC 71 (2002): 209–16.
Garg DP, Kumar M. Genetic algorithm based PD control and fuzzy logic control of a two link robot. American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC. 2002;71:209–16.
Garg, Devendra P., and Manish Kumar. “Genetic algorithm based PD control and fuzzy logic control of a two link robot.” American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC, vol. 71, 2002, pp. 209–16.
Garg DP, Kumar M. Genetic algorithm based PD control and fuzzy logic control of a two link robot. American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC. 2002;71:209–216.

Published In

American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC

Publication Date

2002

Volume

71

Start / End Page

209 / 216

Location

New Orleans, LA, United States

Related Subject Headings

  • Industrial Engineering & Automation