Type - 2 fuzzy logic controller for nonlinear object control

Abstract

In the paper, the concept of using the type 2 fuzzy logic controller for nonlinear object control was presented. The first part provides general information about type 2 fuzzy logic. Next, information about the control object was presented. As a control object, the two degree of freedom robot manipulator was chosen. In this case there are two main problems. The first one is that the object is for a rehabilitation process so the quality of the control system is very important. The next problem is with the nonlinear dynamics with the uncertain parameters of a robot manipulator. The first part of the research consisted of simulation tests. For this part, a simulation model of robot manipulator was prepared. The dynamic equations were used to build a model in MATLAB. Fuzzy logic controller was built in MATLAB too. During this research, the main problem was suitable control quality. It is very important because control quality is connected with a rehabilitation process. The control algorithms enable movement realization and obtain a set position given by the physiotherapist. The results of simulation tests include comparisons between a traditional PID controller and a fuzzy logic controller (traditional fuzzy logic controller and type 2).