A Fuzzy Logic Controller tuned with Imperialist competitive algorithm for 2 DOF robot trajectory control with help Scaling factor

摘要

Using from optimization technologies in a 2 DOF planar robot controlling is a new idea. Until now, different techniques are used for controlling and optimization methods, is designating decision variable values for minimizing or maximizing of bests function and this is insupportably when the number of memberships functions increased or system of dynamic be slow. In this Paper by Imperialist Competitive Algorithm and Imperialist and Fuzzy logic, functions of optimization output membership for controlling a 2 DOF planar robot are designated . In this way, we used of Imperialist Competitive algorithm for attaining to best parameters in Fuzzy logic Sugeno method . bests function in this aspect is like a set of different bests for controlling robot. The main best in this article is using from Imperialist Competitive algorithm as a method for automating planning and reaching to the functions regulation . Even though scientific observations in this algorithm and its regulation by scaling factor with Fuzzy control is used for a robot trajectory control.