A new approach to optimal ANFIS controller on manipulator robots

摘要

A new approach to ANFIS controller using an adaptive inertia weight particle swarm optimization (APSOANFIS) is introduced to control a complex, nonlinear and multi-variable system. In this paper, ANFIS controller based on voltage control strategy (VCS) makes a simple controller to compensate the nonlinearity and uncertainty with high speed and an adaptive inertia weight PSO approach is produced to optimize the controller parameter. Following this further, one more advantage of this scheme due to using voltage control strategy is that it is free from the robot dynamical models. In general, the employed controller is very simple and less computational. Robotic system due to its complexity and nonlinearty is chosen to challenge the proposed controller. Finally, the superiority of the APSOANFIS is illustrated over the PD-like fuzzy controller and compares the tracking trajectory error applied to SCARA robot in simulation results to validate the effectiveness of the proposed algorithms.