A Review on Optimization of Fuzzy Controller Parameters in Robotic Applications

Abstract

The fuzzy logic controller is widely used in different areas due to the unique simplicity and different abilities as it has such a good response to complex and high-order systems. In addition, it is apparent that the fuzzy controller parameters and Membership Function (MF) selection has a vital role in the quality of the controller performance improvement. Due to the existence of several dimensions for fuzzy parameter determination, one of the best solutions is intelligent algorithms, which are often used in last years. Accordingly, this paper aims at doing a comprehensive survey among different methods of fuzzy parameters optimization in robotic systems. The reviewed articles have shown due to the need for a lower amount of computational burden and time limitations of robotic systems, the preferred MFs in robotic applications are the first-order ones.

Keywords:

• Fuzzy logic
• Fuzzy parameters
• Intelligent algorithms
• Robotic

Additional information

Notes on contributors

Mehdi Zangeneh

Mehdi Zangeneh received his bachelor's degree in electronic engineering from Fars Science and Research University in 2012 and master degree in control engineering from Azad Ahvaz University in 2019. His research interests include intelligent control, renewable energy systems, and microprocessors. Email: [email protected]

Ebrahim Aghajari

Ebrahim Aghajari received MEng degree in electronics and instrumentation control and a PhD degree in electronics both from the Pune University, Maharashtra, India, in 2008 and 2014, respectively. In 2015, he joined the Electrical Engineering Department at Islamic Azad University of Ahvaz, Iran as an associate professor. His current research interests include soft computing, machine vision, intelligent control, fuzzy system, image processing, and smart home control.

Mehdi Forouzanfar

Mehdi Forouzanfar received the MSc and PhD degree in control-electrical engineering from the Amirkabir Industrial University, Tehran, Iran., in 2009, and from the Sahand Industrial University, Tabriz, Iran, in 2017, respectively. Since 2017, he is a faculty member of Electrical Engineering Department, Islamic Azad University (Ahvaz-Br.), Iran. His main areas of research interest are active fault detection & FTC, optimal control, identification, artificial intelligence, and cyber physical system. Email: [email protected]