ITM Web Conf.
Volume 52, 2023International Conference on Connected Object and Artificial Intelligence (COCIA’2023)
|Number of page(s)||7|
|Published online||08 May 2023|
Comparative Study of Advanced Controllers Techniques Applied to the Control of a Multiarticulated System
1 EDP Engineering and Applied Physics Team (EAPT), Higher School of Technology, Sultan Moulay Slimane University, Beni Mellal, Morocco.
2 Higher School of Technology, Beni Mellal.
3 Microelectronics, Embedded Systems and Telecommunications Team, Faculty of Sciences and Technics, Sultan Moulay Slimane University, Beni Mellal, Morocco
* Corresponding author: firstname.lastname@example.org
In this work a comparison among three control strategies is presented, with application to a multi-articulated system. The proposed control scheme is based on the dynamic model derived using LagrangeEuler formulation. Our robot manipulator ANFIS system control’s simulated in Matlab Simulink environment; the results obtained present the efficiency and the robustness of the proposed control with good performances compared with PID and the FIS method.
Key words: Multi-articulated system / control / Adaptive Neuro-Fuzzy / PID / Fuzzy logic
© The Authors, published by EDP Sciences, 2023
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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