Control the Robot Movement by Fuzzy Logic Controller

Abstract

Recently, great interest has been the reluctance to move to DC motors and its applications in industry Such as robotics, textiles, and household electric vehicle or application or Aviation domains. The first control techniques used classic controllers have been difficult and complicated because of their requirements for a position sensor of the rotor. The position sensor rotor is an important contribution to the cost and complexity, and tends to reduce the reliability of the system. In this paper, a comparison was made between the use of a fuzzy logic controller (FLC) with 9 rules and a classic controller PID type, to the speed controller of stepper motor using a reference imposes. In addition, a numerical simulation of the close loop system was developed using Matlab/Simulink program. Some results have been introduced to illustrate the performance characteristics of the non-linear system. Finally, the two practices for measuring results and the results were compared. The simulation of the dynamic behaviour of this non-linear system, achieved under Matlab/Simulink computer package, allows us to examine the performance of this technique: improvement of the stability and the dynamic response.