Online Genetic-Fuzzy Forward Controller for a Robot Arm

Abstract

The robot is a repeated task plant. The control of such a plant under parametervariations and load disturbances is one of the important problems. The aim of this work is todesign Genetic-Fuzzy controller suitable for online applications to control single link rigid robotarm plant. The genetic-fuzzy online controller (forward controller) contains two parts, anidentifier part and model reference controller part. The identification is based on forwardidentification technique. The proposed controller it tested in normal and load disturbanceconditions