期刊名称：International Journal of Computer Science and Network Security
印刷版ISSN：1738-7906
出版年度：2019
卷号：19
期号：2
页码：126-135
出版社：International Journal of Computer Science and Network Security
摘要：The robot manipulators control has been widely studied. Most studies focus on the control of robots with flexible joints without considering the dynamics of the actuators and the uncertainties.
Moreover, few contributions in the literature deal with the problem of a tracking trajectory taking into account the dynamics of the actuators and joint flexibility. Considering the complexity of the studied system, a good choice of controllers is required. To extract the most suitable controllers, predict real scenarios and avoid system damage, Model In the Loop (MIL) technique is proposed. On one hand, this paper studies the MIL model of the proposed system and their controllers. On the other hand, it evaluates the performance of all system via MIL simulation using MATLAB/Simulink environment. Simulation results demonstrate the high performance, the precision and the rapidity of the hybrid controllers such as the fuzzy logic PI controller thanks to their ability to control nonlinear systems.
关键词：Model In the Loop Simulation;Flexible Joint Manipulator;Uncertainties;Hysteresis controller;Fuzzy logic PI controller
