Effect of Fuzzy Logic Controller

Advanced intelligent control design cannot entirely replace the application of conventional controller in robotic system. On the other hand, intelligent controllers can be implemented into conventional controller design to increase its performance and ability. Most of intelligent control in movement control involves fuzzy logic and neural network system. This study features the influence

of fuzzy logic controller upon the performance of robot movement simulation, which is controlled by a digital controller. Model design and simulation are done in SIMULINK, using Fuzzy Logic Toolbox provided by MATLAB software to control the movement speed of a robotic designed system. Finally, the movement speed is found better off controlled with the additional of fuzzy logic controller instead of the digital controller solely. Keywords: Intelligent Control, Fuzzy Logic, Digital Controller, Robot Movement, Simulink. INTRODUCTION Robotics system design is becoming one of challenging tasks for engineers. Moving toward the technology of artificial intelligent robotic designed system, software simulations and control is very important before engineers can proceed with the mechanical and electronic construction of the whole system [1]. Design and development in robotic system has become an important field in engineering industries due to the requirement of high performance autonomous machine to increase production and handle duty under tough environment In the development of artificial intelligent human bases robotic design system, fuzzy logic controller is very important when dealing with uncertainty in the working condition. Unknown moving path condition and imprecise input signal are two common problems that occur in the real world robot operations. Because of this, fuzzy logic controller is implemented to the system design in order to handle these conditions. A few robotic fuzzy logic controlled design done by previous researcher with various application can be found in [2],[3],[4],[5],[6],[7]. In this research, the system is specifically designed to define the robotic movement. Generally, the design task can be divided into movement system, sensors system, power system, controller circuits and mechanical construction of the robot. However, only movement, sensor and controller system designs are involved in this simulation. Robotic movement system can KATHMANDU UNIVERSITY JOURNAL OF SCIENCE, ENGINEERING AND TECHNOLOGY VOL. I, No. V, SEPTEMBER 2008, pp 28-39. 29 be designed using DC servo motors, AC motor or pneumatic system. Motors are normally used for joint and robot’s wheel construction because of its small size and easier to control. With the fuzzy logic control blocks [8], the designed system can be improved so that it can handle imprecise signals which are very common in the real world. Whenever the signals alter, the speed of the robotic system is adjusted using the fuzzy logic controller to give an appropriate movement correction defined for the whole system. Simulation and analysis of this robotic movement control system provide designer...

Website: www.ku.edu.np | Filesize: -
No of Page(s): 12
Download EFFECT OF FUZZY LOGIC CONTROLLER