Fuzzy-based Generalized Predictive Control of a robotic arm

In this paper, Generalized Predictive Control (GPC) based on a Fuzzy Logic model is illustrated. The control technique is then applied to a selected nonlinear application to show the performance of the Fuzzy-Based Generalized Predictive Control (FGPC). The results of the presented FGPC method are compared with standard GPC and Proportional-Integral-Derivative Control (PID). The results revealed limitations of the PID and the linear GPC in operating points that differed from the controller design specification. The Fuzzy GPC overcame these limitations and displayed greater global performance.