Ayman A. Aly; Aly S. Abo El-Lail; Kamel A. Shoush; Farhan A. Salem

Intelligent PI Fuzzy Control of An Electro Hydraulic Manipulator

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Author(s)

Ayman A. Aly ^1,2,* Aly S. Abo El-Lail ³ Kamel A. Shoush ⁴ Farhan A. Salem ⁵

1. Mechatronics Sec., Dept. of Mechanical Engineering, Assiut university, Assiut, 71516, Egypt

2. Mechatronics Sec., Dept. of Mechanical Engineering, Taif university, Taif, 888, Saudi Arabia

3. Dept. of Mechanical Engineering, Assiut university, Assiut, 71516, Egypt

4. Dept. of Electrical Engineering, Taif university, Taif, 888, Saudi Arabia

5. Dept. of Mechanical Engineering, Taif university, Taif, 888, Saudi Arabia

* Corresponding author.

DOI: https://doi.org/10.5815/ijisa.2012.07.06

Received: 12 Jun. 2011 / Revised: 4 Nov. 2011 / Accepted: 16 Jan. 2012 / Published: 8 Jun. 2012

Index Terms

Manipulator Position Control, Fuzzy Logic Control, PID, Electrohydraulic Servodrives

Abstract

The development of a fuzzy-logic controller for a class of industrial hydraulic manipulator is described. The main element of the controller is a PI-type fuzzy control technique which utilizes a simple set of membership functions and rules to meet the basic control requirements of such robots. Using the triangle shaped membership function, the position of the servocylinder was successfully controlled. When the system parameter is altered, the control algorithm is shown to be robust and more faster compared to the traditional PID controller. The robustness and tracking ability of the controller were demonstrated through simulations.

Cite This Paper

Ayman A. Aly, Aly S. Abo El-Lail, Kamel A. Shoush, Farhan A. Salem, "Intelligent PI Fuzzy Control of An Electro-Hydraulic Manipulator", International Journal of Intelligent Systems and Applications(IJISA), vol.4, no.7, pp.43-49, 2012. DOI:10.5815/ijisa.2012.07.06

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International Journal of Intelligent Systems and Applications (IJISA)