Design a Controller for Parallel Robot Using GA and Fuzzy Type-2 Method

Abstract

This paper provides a trajectory control rule for delta robots based on an Interval Type-2 Fuzzy Logic Controller (IT2FLC) optimized by using a Genetic Algorithm (GA). The IT2FLC is created utilizing the fuzzy logic approach of Type-1 Fuzzy Logic Controllers (T1FLC). GA is used for the controller's pre-processing. The proposed controller is used for the Delta robot in different cases such as without disturbance, with disturbance, and with load. The paper compares the simulation results to those of T1FLC and PID controllers. According to the results, IT2FLC outperforms the other controllers in terms of tracking control trajectory.