MIMO System Design Using Mixed Fuzzy

Controller for a Flexible Link Robot ARM

Sree!rad"a# C$
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Me"erunnisa#S#&$
'
Sil!a Ra(eendran

Le)turer$ Instrumentation de!artment$ !rad"a)*gmail#)om

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Le)turer$ Instrumentation de!artment$ Me"arbaks"i*"otmail#)om
'
Le)turer$ Instrumentation de!artment$ sil!a+ra(eendran*gmail#)om
$%$'
Dayananda Sagar )ollege of engineering$ ,angalore$ India
Abstract - MIMO systems usually have characteristics of nonlinear system dynamics. Robotic systems being an
MIMO system also shows the coupling problem. Hence the robotic control system includes two main control parts. One is
to control the coupling problem introduced by the arm links and the other is to control the arm trajectory. his design
approach of the robotic system combines mi!ed fu""y logic #M$%& and the conventional 'I( controller. he robot system
is having two degrees of freedom and the controller is designed such that change in one degree should have minimum
effect on other and overall the system should remain stable. )ased on load variations in the robotic system* the gains of
the 'I( controller is tuned automatically using mi!ed fu""y logic controller.
his controller model will have a conventional 'I( and the output of that 'I( is controlled by the
mi!ed fu""y controller. M$% in turn first designs the traditional fu""y controller #$%& from the view point of +I+O
system for controlling each degree of freedom of the two link robot arm. hen* an appropriate coupling fu""y controller
is also designed according to the characteristics of the system,s dynamics coupling and incorporated into a $% to
compensate for coupling effects between the degrees of freedom. he advantage in using M$% is that it will help to
improve the system performance. Hence the hybrid M$% and %onventional 'I( will control the arm trajectory. $urther*
this design approach includes the real time implementation using the -ab .iew.
Index Terms / FLC$ Fuzzy )ontroller$ &ID )ontroller$ Roboti)s.
0. I1RO(2%IO1
As t"e roboti) system is a se)ond order
nonlinear system$ &ID )ontroller alone )annot
!ro(ide t"e general solution for t"e better )ontrol#
-en)e t"e mixed fuzzy &ID )ontrol is used to "a(e a
better )ontrol o(er t"e roboti) systems# ."e general
blo)k diagram is s"o/n in t"e fig# # ."e main aim
of t"e )on(entional &ID )ontroller is to rea)" or
maintain a !ro)ess in a s!e)ifi) state$ by monitoring a
set of (ariables and sele)ting t"e ade0uate )ontrol
a)tions#
.raditional fuzzy )ontroller 1.FC2 design is
situated along a border line in t"e resear)" field$
/"ere 0uite different a!!roa)"es are a!!lied and t"e
main ones are artifi)ial intelligen)e and )ontrol
engineering and o!timization t"eory# ."e FLC makes
de)ision t"roug" t"e /ell3kno/n if3t"en else rule
base# A fuzzy regulator is a set of linguisti) )ontrol
rules$ /"i)" "a(e t"e !ossible (alues of t"e in!ut
(ariables as ante)edents$ and /"i)" also )on)lude t"e
)ontrol a)tion in linguisti) terms# ."e )ontroller !art
of t"e fuzzy logi) )ontains t"e fuzzifi)ation$ rule
base$ inferen)e and t"e defuzzifi)ation !ro)ess#
."e main effe)t on t"e system is )ontrolled
using a .FC# ."e se)ondary effe)t on t"e system is
)ontrolled by designing an a!!ro!riate )ou!ling
fuzzy )ontroller# Clearly$ t"e )ontrol stru)ture of t"e
fuzzy )ontrol system is (ery )om!li)ated /"en t"e
in!ut (ariable is multi!le3degree and t"e out!ut
(ariable is one degree$ or more t"an one degree# ."e
in!ut (ariable of t"e )ou!ling fuzzy )ontroller is
)"osen mainly as t/o )ou!ling effe)ted fa)tors su)"
t"at t"e stru)ture of t"e fuzzy rules )an be built
)on(entionally#
3. MI45( $2667 %O1RO--5R
Mixed fuzzy )ontroller is t"e )on)e!t of
adding t"e )ou!ling fuzzy )ontroller to a traditional
fuzzy )ontroller to )om!ensate for )ou!ling effe)t to
de(elo! system !erforman)e# ."is roboti) )ontrol
design de(elo!s a mixed fuzzy )ontrol strategy to
)ontrol MIMO systems# ."e )ontrol strategy in)ludes
a .FC and a )ou!ling fuzzy )ontroller# ."e
!ro)edure for designing t"e mixed )ontrol strategy
in(ol(es first designing a .FC to )ontrol indi(idually
ea)" degree of freedom of t"e MIMO system# ."en$
an a!!ro!riate )ou!ling fuzzy )ontroller is designed
to )om!ensate for t"e system dynami) )ou!ling
bet/een t"e degrees of freedom#
3.0 R8(IIO18- $2667 %O1RO--5R
."e fuzzifi)ation blo)k mat)"es t"e in!ut
data /it" t"e )onditions of t"e rules to determine
"o/ /ell t"e )ondition of ea)" rule mat)"es t"at
!arti)ular in!ut instan)e# ."e )ontroller may a)tually
need t"e error$ )"ange in error and t"e a))umulated
error as in!uts$ but in t"e single loo! )ontrol all t"e
t"ree are formed from t"e error measurement# In t"e
3
S&
4
5! .i .d
$u""y
Reasoning
'I(
%ontroller
Robot
Manipulator
3
S&
4
5! .i .d
$u""y
Reasoning
'I(
%ontroller
Robot
Manipulator
Proceedings of National Conference on Advanced Computing and CommunicationNCACC11, April.16, 2011
defuzzifi)ation te)"ni0ue$ t"e fuzzy set must be
)on(erted to a number t"at )an be sent to t"e !ro)ess
as a )ontrol signal#
Fuzzy in!ut of m
Fuzzy in!ut of m%
Fuzzy error in!ut of m
3.3 %O2'-I19 $2667 %O1RO--5R
."e main effe)t on t"e system is )ontrolled
using a .FC# ."e se)ondary effe)t on t"e system is
)ontrolled by designing an a!!ro!riate )ou!ling
fuzzy )ontroller# Clearly$ t"e )ontrol stru)ture of t"e
fuzzy )ontrol system is (ery )om!li)ated /"en t"e
in!ut (ariable is multi!le3degree and t"e out!ut
(ariable is one degree$ or more t"an one degree#
."ese !arameters of a fuzzy )ontrol system are
diffi)ult de)ided be)ause t"e fuzzy )ontrol rules /ill
be generated as a geometri) series$ and mu)"
)om!uting time /ill be re0uired# -en)e t"e design
!ro)edure of t"is )ou!ling fuzzy )ontroller s"ould be
sim!lified to redu)e t"e )om!utational burden during
im!lementation# ."e in!ut (ariable of t"e )ou!ling
fuzzy )ontroller is )"osen mainly as t/o )ou!ling
effe)ted fa)tors su)" t"at t"e stru)ture of t"e fuzzy
rules )an be built )on(entionally#
."e out!ut of t"e )ou!ling fuzzy )ontroller
is )"osen dire)tly as t"e )ou!ling )ontrol In!ut# ."e
main reason is t"at t"ere is a different )ou!ling effe)t
for ea)" ste! and it does not "a(e an a))umulating
feature# ."e )ou!ling effe)t is in)or!orated into t"e
.FC for ea)" ste! to im!ro(e !erforman)e and
robustness of t"e system# Members"i! fun)tion of t"e
)ou!ling fuzzy )ontroller is s"o/n in t"e figure#
."erefore in roboti) system design$ t"e mixed fuzzy
)ontrol strategy )an be em!loyed to )ontrol dynami)
)ou!ling of t"e systems# Fig %#6 s"o/s t"e mixed
fuzzy )ontroller in /"i)" ei is t"e out!ut from t"e
&ID )ontroller$ #and are t"e deri(ati(e of t"e
error in!ut and M and M% are t"e % links of roboti)
arm
Fuzzy error in!ut of m%
Fig %#% Members"i! fun)tions of in!ut !arameters in
.FC

Proceedings of National Conference on Advanced Computing and CommunicationNCACC11, April.16, 2011
Fig %#7 MF of )ou!ling fuzzy )ontroller
(e:dt
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(e0:dt
(e3:dt
53
(e3:dt
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An industrial robot is a general3!ur!ose$
)om!uter )ontrolled mani!ulator )onsisting of
se(eral rigid links )onne)ted in series by re(olute or
!rismati) 8oints# One end of t"e )"ain is atta)"ed to a
su!!orting base$ /"ile t"e ot"er end is free and
e0ui!!ed /it" a tool to mani!ulate ob8e)ts or
!erform assembly tasks# ."e motion of t"e 8oints
results in relati(e motion of t"e links# Me)"ani)ally
robot is )om!osed of an arm 1or mainframe2 and a
/rist subassembly !lus a tool# It is designed to rea)"
a /ork (olume# ."e arm subassembly generally )an
mo(e /it" t"ree degrees of freedom# ."e t"ree
motions are often )alled !it)"$ ya/$ and roll#
<. M8H5M8I%8- MO(5-I19 O$ RO)O
8RM
Multilink robot mani!ulators are familiar
exam!les or tra8e)tory )ontrollable me)"ani)al
systems# ."eir dynami)s are nonlinear and )an be
ex!ressed as

= +

2 $ 1 2 1 q q h q q
####### 16#2
9"ere$
2 1t : n x generalized tor0ue (e)tor a!!lied at 8oints I
: $ %$ ' ;n
01t2 : an n x (e)tor of t"e 8oint (ariables of t"e robot
arm#
2 1t q

: an n x (e)tor of t"e 8oint (elo)ity of t"e robot

arm#
2 1t q

: an n x (e)tor of t"e a))eleration of t"e 8oint
(ariables 01t2#
D102 : an n x n inertial a))eleration3related symmetri)
matrix
2 $ 1

q q h
: an n x n nonlinear )oroiolis and )entrifugal
for)e (e)tor
Sin)e t"e inertia matrix D102 is
in(ertible$ t"e dynami)s of t"e robot mani!ulator
)an be /ritten as

2 1 2 $ 1 2 1

+ = q q q h q q
###### 16#%2
<o/ )onsider a t/o link robot mani!ulator /it" its
masses )on)entrated at t"e ends of ea)" link and
/"ose motor inertia is negle)ted#

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Proceedings of National Conference on Advanced Computing and CommunicationNCACC11, April.16, 2011

Fig 7# ./o link robot arm


+ =
+ + =
=
= =
+ =
% % % % % % % % %
% % % % %
%
% % %%
% % % % %
%
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sin 2 sin1
sin 2 1 2 sin1
2 )os1
2 1
q " q gl m q q l l m q h
q " q gl m m q q l l m q h
l m
q q l l m
l m m
q
q
=. R5+2-
-ere t"e set!oint is )onsidered as t"e !ulse
in!ut# ."e &ID )ontroller out!ut s"o/s in)reased
o(ers"oot and os)illations /"ereas t"e MFC3 &ID
out!ut "as minimum settling time /it" negligible
o(ers"oot#
Fig >#' Out!ut res!onse of t"e mixed fuzzy3 &ID
)ontroller
Fig >#% Out!ut res!onse of t"e MFC
=.0 'erformance of the controller
.able ># s"o/s t"e !erforman)e indi)es of
t"e &ID$ fuzzy and "ybrid )ontrollers#
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.able ># Com!arison of !erforman)e indi)es
>.%O1%-2+IO1
As t"e roboti) system is a se)ond order
nonlinear system$ &ID )ontroller alone )annot
!ro(ide t"e general solution for t"e better )ontrol#
-en)e mixed fuzzy &ID )ontroller "as been !ro!osed
to address t"e !roblem of t"e !osition )ontrol of t"e
t/o 8oint robot arms# ,y a!!lying t"is !ro!osed
)ontrol$ /"i)" is t"e soft )ombination bet/een t"e
&ID and mixed fuzzy )ontroller$ /e )an obtain t"e
ad(antages of bot" t"e )ontrollers based on t"e
relations"i! bet/een t"e fuzzy gains and
)on(entional &ID !arameters# Simulation results of
t"e "ybrid res!onse s"o/ a mu)" better res!onse in
tra)k seeking and remarkable redu)tion in settling
time and o(ers"oot# Furt"er$ t"e design a!!roa)" /ill
in)lude t"e real time im!lementation using
LA,AIB9#
R5$5R51%5+
CD# Algendro A)e(es3Lo!ez and Eose!" Aguilar3
Martin$ FA Sim!lified Aersion of MamdaniGs
Fuzzy ControllerH ."e <atural Logi)
ControllerI$ IBBB trans#$ on fuzzy systems$ AOl#
7$ <o# $ February %??>#
C%D# Antonio Jordan <ones$ F-eterogeneous
Modeling K Design of a Robot Arm )ontrol
systemI$ Uni(ersity of &uerto Ri)o$ Mayagues$
De)ember %??'#
C'D# Antony Lreen and Eurek M# Sasiadek$ F-euristi)
Design of a Fuzzy Controller for a Flexible
RobotI IBBB transa)tion on )ontrol systems
te)"nology$ AOL#7$ <o# %$ Mar)" %??>#
C7D# ,adar ul Islam$ <isar A"med and
S"a"id 5"an$ FController design using Fuzzy
Logi) for a ./in Motor MIMOIIBBB
!ro)eedings$ I<MIC %??'