Author(s)

Majid Moradi Zirkohi, Samsam Izadpanah

Department of Electrical Engineering, Behbahan Khatam Alanbia University of Technology, Behbahan, Iran.

This paper develops a novel interval type-2 fuzzy Proportional-Derivative (PD) control scheme for electrically driven flexible-joint robots using the direct method of Lyapunov. The controller has a simple design in a decentralized structure. Compared to the previous controllers reported for the flexible-joint robots which use two control loops, it has a simpler structure using only one control loop. It guarantees stability and provides a good tracking performance. The controller considers the whole robotic system including the manipulator and motors by applying the voltage control strategy. Stability analysis is presented and the effectiveness of the proposed control approach is demonstrated by simulations using a three link flexible-joint robot driven by permanent magnet DC motors. Simulation results show that the interval type-2 fuzzy PD controller can handle external disturbance better than the type-1 fuzzy PD controller. In addition, it spends less control effort than the type-1 in order to deal with disturbance.

Type-2 Fuzzy Control, Flexible-Joint Robots, Voltage Control Strategy, Uncertainty Estimation

Zirkohi, M. and Izadpanah, S. (2017) Interval Type-2 Fuzzy PD Tracking Control of Flexible-Joint Robots. Journal of Software Engineering and Applications, 10, 854-872. doi: 10.4236/jsea.2017.1011048.