Fuzzy PID Control by Grouping of Membership Functions of Fuzzy Antecedent Variables with Neutrosophic Set Approach and 3-D Position Tracking Control of a Robot Manipulator
Küçük Resim Yok
Tarih
2018
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Springer Singapore Pte Ltd
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
This paper aims to design of the neutrosophic fuzzy-PID controller and it has been compared with the conventional fuzzy-PID controller for position tracking control in terms of robustness. In the neutrosophic fuzzy-PID controller, error (e) and change of error (ce) were assessed separately on two fuzzy inference systems (FISs). In this study, the designed method is different from the conventional fuzzy logic controller design, membership degrees of antecedent variables were determined by using the T(true), I(indeterminacy), and F(false) membership functions. These membership functions are grouped on the universe of discourse with the neutrosophic set approach. These methods were tested on three-dimensional (3-D) position-tracking control application of a spherical robot manipulator in the MATLAB Simulink. In all tests, reference trajectory was defined for movements of all axes of the robot manipulator. According to the results of the study, when the moment of inertia of the rotor is changed, less overshoot ratio and less oscillation are obtained in the neutrosophic fuzzy-PID controller. Thus, our suggested method is seen to be more robust than the fuzzy-PID controllers.
Açıklama
Anahtar Kelimeler
Neutrosopy, Robust, Fuzzy logic controller, Grouping membership functions, Fuzzy-PID controller, 3-D position tracking control, Spherical robot manipulator
Kaynak
Journal of Electrical Engineering & Technology
WoS Q Değeri
Q4
Scopus Q Değeri
Q2
Cilt
13
Sayı
2
