earticle

영어

Cognitive method is used in this research to create portfilo of movement robot manipulator. Gradient descent (GD) fuzzy controller was used and robot’s postures and trajectory were expected in MATLAB/SIMULINK environment. Fuzzy logic controller (FLC) is an influential nonlinear controller to certain and uncertain systems which it is based on artificial intelligent and computes the required torques using the nonlinear feedback control law. Practically a large amount of systems have uncertainties accordingly this method has a challenge. Linear proportional-integral-derivative (PID) controller is a significant combination nonlinear stable-robust controller under condition of partly uncertain dynamic parameters of system. This technique is used to control of highly nonlinear systems especially in nonlinear time varient nonlinear dynamic system. To compensate for the dependence on model-free parameters, PID methodology is used. The nonlinear model dynamic formulation problem in uncertain system can be solved by using PID theorem. Proportional-Derivative-Integral (PID) theory is used to estimate the system dynamic.