2014
DOI: 10.7763/ijmmm.2014.v2.110
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ANFIS PD+I Based Hybrid Force/ Position Control of an Industrial Robot Manipulator

Abstract: Abstract-A hybrid force plus position controller based on adaptive neuro fuzzy inference system proportional derivative + integral (ANFIS-PD+I), with unspecified robot dynamics has been proposed for a robot manipulator under constrained environment. The proposed controller has been employed as a principal controller to tune up orthodox PID gains throughout the complete trajectory tracking process. The validity of the proposed controller has been studied using a 6-Degree of Freedom (DOF) PUMA robot manipulator.… Show more

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Cited by 3 publications
(2 citation statements)
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“…The ANFIS could solve this problem by combining fuzzy logic controller advantage to deal with the uncertainties with the ability of neural networks to learn from plants/processes, this concept has attracted an exceptional attention in various engineering fields [36][37][38][39][40]. In this context, several hybrid designs have been made to enhance the robustness of the ANFIS controlled system, by benefiting from advantage and simplicity of a PID controller, we distingue the following mergers: hybrid ANFIS-PID [41][42][43], (ANFIS+I) controller optimizing using multidimensional PSO for Quadrotor Position Control [44], (ANFIS-PD+I) controller for robot manipulator [45].…”
Section: Introductionmentioning
confidence: 99%
“…The ANFIS could solve this problem by combining fuzzy logic controller advantage to deal with the uncertainties with the ability of neural networks to learn from plants/processes, this concept has attracted an exceptional attention in various engineering fields [36][37][38][39][40]. In this context, several hybrid designs have been made to enhance the robustness of the ANFIS controlled system, by benefiting from advantage and simplicity of a PID controller, we distingue the following mergers: hybrid ANFIS-PID [41][42][43], (ANFIS+I) controller optimizing using multidimensional PSO for Quadrotor Position Control [44], (ANFIS-PD+I) controller for robot manipulator [45].…”
Section: Introductionmentioning
confidence: 99%
“…Duka applied ANFIS method to solve the inverse kinematics problem of robot manipulators [3]. Chaudhary, Panwar, Sukavanam, et al combined ANFIS and PID technique on the compliance control robot manipulators [4]. Hamouda, Babes, Kahla, et al applied ANFIS technique for MPPT of Solar PV System by using PSO Algorithm [5].…”
Section: Introductionmentioning
confidence: 99%