Designing Hedge Algebraic Controller and Optimizing by Genetic Algorithm for Serial Robots Adhering Trajectories

Abstract

In recent years, the application of hedge algebras in the field of control has been studied. The results show that this approach has many advantages. In additions, industrial robots are being well-developed and extensively used, especially in the industrial revolution 4.0. Accurate control of industrial robots is a class of problems that many scientists are interested in. In this paper, we design a controller based on hedge algebra for serial robots. The control rule is given by linguistic rule base system. The goal is to accurately control the moving robot arm which adheres given trajectories. Optimization of fuzzy parameters for the controller is done by genetic algorithms. The system has been simulated on the Matlab-Simulink software. The simulation results show that the orbital deviation is very small. Moreover, the controller worked well with correct control quality. This result once presents the simplicity and efficiency of the hedge algebras approach to control.

Information and Mathematical Structures Contained in the Natural Language Word Domains and Their Applications

“…For example, one may accept that the Vietnamese persons' middle age is approximately from 43 to 49 years. Thus, the i−semantics of 'middle age' is the interval [43,49].…”

“…These achieved theoretical results sufficiently form a necessary formalized basis for solving application problems in different fields. One can find its applications in cybernetics [15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30], in classification and regression [31,32,33], decision making [38,39], multi-channel image processing [37], robotics [45,46,47,48,49], networking [43,44], fuzzy linguistic time series [40,41,42], linguistic data summaries [35,36], databases and object-oriented databases based on hedge algebraic semantic [58,59,60], and it is not the end.…”