Research Article
Modified DE-based Fuzzy PD Controller for UP6 Manipulator
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International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
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| Volume 185 - Issue 38 |
| Published: Nov 2023 |
| Authors: Duc Hoang Nguyen |
10.5120/ijca2023923190
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Duc Hoang Nguyen . Modified DE-based Fuzzy PD Controller for UP6 Manipulator. International Journal of Computer Applications. 185, 38 (Nov 2023), 36-40. DOI=10.5120/ijca2023923190
@article{ 10.5120/ijca2023923190,
author = { Duc Hoang Nguyen },
title = { Modified DE-based Fuzzy PD Controller for UP6 Manipulator },
journal = { International Journal of Computer Applications },
year = { 2023 },
volume = { 185 },
number = { 38 },
pages = { 36-40 },
doi = { 10.5120/ijca2023923190 },
publisher = { Foundation of Computer Science (FCS), NY, USA }
}
%0 Journal Article
%D 2023
%A Duc Hoang Nguyen
%T Modified DE-based Fuzzy PD Controller for UP6 Manipulator%T
%J International Journal of Computer Applications
%V 185
%N 38
%P 36-40
%R 10.5120/ijca2023923190
%I Foundation of Computer Science (FCS), NY, USA
Abstract
The paper proposes a method using modified differential evolution to tune the parameters of the fuzzy PD controller for regulating the MOTOMAN UP6 robot manipulator. In this paper, the modified differential evolution is based on a combination of DE mutation strategies: "DE/rand/1" and "DE/best/1". The proposed method is used to find the optimal parameters of a fuzzy PD controller. Simulated results show that the modified DE-based fuzzy PD controller improves settling time response significantly.
References
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- Industrial Robot MOTOMAN-UP6, MOTOMAN ROBOTICS EUROPE AB.
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