| Issue |
ITM Web Conf.
Volume 52, 2023
International Conference on Connected Object and Artificial Intelligence (COCIA’2023)
|
|
|---|---|---|
| Article Number | 04004 | |
| Number of page(s) | 7 | |
| Section | Electrical Engineering | |
| DOI | https://doi.org/10.1051/itmconf/20235204004 | |
| 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: baghli.fatimazahra@gmail.com
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
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