Design of a fuzzy logic controller for a 2-DOF robot manipulator

Abstract

In this study, a 2-DOF robot manipulator is designed and controlled by modified fuzzy logic controller. In order to have a good position tracking a fuzzy logic controller, which is convenient for nonlinear complex systems, is developed by modifying the ones from previous works. The performance of the developed FLC is compared with the classical PID controller of which the parameters are tuned by means of Integral Squared Error (ISE) performance measure. The optimum results for both developed FLC and classical PID controller are given in the result section.