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

@article{Bingul2011AFL,
  title={A Fuzzy Logic Controller tuned with PSO for 2 DOF robot trajectory control},
  author={Zafer Bingul and Oguzhan Karahan},
  journal={Expert Syst. Appl.},
  year={2011},
  volume={38},
  pages={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… CONTINUE READING

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