Robotic Manipulator Control Using PD-type Fuzzy Iterative Learning Control

Abstract

In this paper, a single arm planar manipulator robot with a moving platform is controlled based on PD-type Fuzzy Iterative Learning Control (ILC). The manipulator robot is modeled based on the Euler Lagrange equation, and the Multi-Input-Multi-Output (MIMO) nonlinear model is obtained for simulation. The DC motor torque and horizontal force for moving platform are system inputs, and position of the moving platform and robot arm are system outputs. The linearized state-space linear model of the robot is obtained for analyzing stability and convergence of proposed controller. The results of comparing the proposed PD-type fuzzy ILC controller to P-type, PD-type, and P-type Fuzzy ILC illustrate fast and accurate reference tracking the performance of this proposed controller.