Evolving an interval type-2 fuzzy PID controller for the redundant robotic manipulator
作者：
Highlights：
• Implementation of IT2FPD+I controllers for redundant robot manipulator.
• Control of redundant robot and comparison with T1FPID and conventional PID.
• Computation of upper and lower search rang for optimization technique is presented.
• Robustness testing is also investigated for proposed controllers.
• The IT2FPID controllers are found to be superior for trajectory tracking problem.
摘要
•Implementation of IT2FPD+I controllers for redundant robot manipulator.•Control of redundant robot and comparison with T1FPID and conventional PID.•Computation of upper and lower search rang for optimization technique is presented.•Robustness testing is also investigated for proposed controllers.•The IT2FPID controllers are found to be superior for trajectory tracking problem.
论文关键词：Initial search space,Interval type-2 fuzzy PID controller,Trajectory tracking,Robustness testing,Five-DOF redundant manipulator
论文评审过程：Received 18 December 2015, Revised 21 December 2016, Accepted 22 December 2016, Available online 23 December 2016, Version of Record 4 January 2017.
论文官网地址：https://doi.org/10.1016/j.eswa.2016.12.029
