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dc.creatorHumaidi, Amjad J.-
dc.creatorNajem, Huda T.-
dc.creatorAl-Dujaili, Ayad Q.-
dc.creatorPereira, Daniel A.-
dc.creatorIbraheem, Ibraheem Kasim-
dc.creatorAzar, Ahmad Taher-
dc.date.accessioned2022-03-31T22:24:11Z-
dc.date.available2022-03-31T22:24:11Z-
dc.date.issued2021-03-
dc.identifier.citationHUMAIDI, A. J. et al. Social spider optimization algorithm for tuning parameters in PD-like Interval Type-2 Fuzzy Logic Controller applied to a parallel robot. Measurement and Control, [S. I.], v. 54, n. 3-4, p. 303–323, 2021. DOI: 10.1177/0020294021997483.pt_BR
dc.identifier.urihttp://repositorio.ufla.br/jspui/handle/1/49644-
dc.description.abstractThis paper presents control design based on an Interval Type-2 Fuzzy Logic (IT2FL) for the trajectory tracking of 3-RRR (3-Revolute-Revolute-Revolute) planar parallel robot. The design of Type-1 Fuzzy Logic Controller (T1FLC) is also considered for the purpose of comparison with the IT2FLC in terms of robustness and trajectory tracking characteristics. The scaling factors in the output and input of T1FL and IT2FL controllers play a vital role in improving the performance of the closed-loop system. However, using trial-and-error procedure for tuning these design parameters is exhaustive and hence an optimization technique is applied to achieve their optimal values and to reach an improved performance. In this study, Social Spider Optimization (SSO) algorithm is proposed as a useful tool to tune the parameters of proportional-derivative (PD) versions of both IT2FLC and T1FLC. Two scenarios, based on two square desired trajectories (with and without disturbance), have been tested to evaluate the tracking performance and robustness characteristics of proposed controllers. The effectiveness of controllers have been verified via numerical simulations based on MATLAB/SIMULINK programming software, which showed the superior of IT2FLC in terms of robustness and tracking errors.pt_BR
dc.languageenpt_BR
dc.publisherSAGE Publishingpt_BR
dc.rightsAttribution 4.0 International*
dc.rightsacesso abertopt_BR
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/*
dc.sourceMeasurement and Controlpt_BR
dc.subject3-Revolute-Revolute-Revolute robotpt_BR
dc.subjectInterval Type-2 FLCpt_BR
dc.subjectT1FL controllerpt_BR
dc.subjectSocial Spider Optimization (SSO)pt_BR
dc.titleSocial spider optimization algorithm for tuning parameters in PD-like Interval Type-2 Fuzzy Logic Controller applied to a parallel robotpt_BR
dc.typeArtigopt_BR
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