Design of an evolving Fuzzy-PID controller for optimal trajectory control of a 7-DOF redundant manipulator with prioritized sub-tasks
作者：
Highlights：
• An evolving Fuzzy-PID controller for the trajectory control of a 7-DOF manipulator.
• The scaling factors of the fuzzy controller are evolved by using meta-heuristics.
• The proposed technique is more efficient in terms of reduced tracking error.
• The proposed control design is also more robust to external noise and disturbances.
• This method relies lesser on the system dynamics and is easily implementable.
摘要
•An evolving Fuzzy-PID controller for the trajectory control of a 7-DOF manipulator.•The scaling factors of the fuzzy controller are evolved by using meta-heuristics.•The proposed technique is more efficient in terms of reduced tracking error.•The proposed control design is also more robust to external noise and disturbances.•This method relies lesser on the system dynamics and is easily implementable.
论文关键词：Redundant manipulator,Meta-heuristic,Pseudo-inverse,Fuzzy logic,Optimal Control
论文评审过程：Received 18 July 2018, Revised 10 October 2019, Accepted 11 October 2019, Available online 16 October 2019, Version of Record 10 October 2020.
论文官网地址：https://doi.org/10.1016/j.eswa.2019.113021
