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 addition, 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 algebras for serial robots. The control rule is given by the linguistic rule-based 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 tracking error 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.