Syed Asad Hussain

Control of Under-Actuated Two-Link ROBOT with Hybrid LQ-Fuzzy Controller

This work presents flexible two-link ROBOT arm control methodology through fuzzy logic and state-estimation arrangement. In order to drive the fast and slow subsystems, a singular perturbation scheme has been established, that also reduces spillover effect. The estimation based compensator damps out the noise/ vibration of the complex arrangement. Tracking of the trajectory is characterized through fuzzy logic controller (slow-subsystem). The simulation results of this Hybrid LQ-fuzzy controller provide robustness without increasing the order of overall system and good stability performance of flexible two-link ROBOT arm. This algorithm outperforms traditional control approaches such as PD, LQR or LQG solution. Furthermore we have illustrated problems with control system on network. The network induced time delay is main predicament in communication network based closed control loop system. We have used Smith Predictor (as a dead time compensator) with LQ-Fuzzy controller and Hybrid LQ-Fuzzy controller on network for comparative study on under actuated two-link Robot under synchronous actuation. With Hybrid LQ-Fuzzy controller control gains can be kept constant, and simulation results show that performance is also restored.