Decentralized adaptive fuzzy controller by adaptive PSO approach for industrial robots

Flexible-joint in robotic systems is a fact that is impossible to ignore it. On the other hand, flexible-joint robotic system, is very complex, nonlinear and multi-variable. In this paper, a decentralized adaptive fuzzy controller by adaptive PSO approach (APSODAFC) based on voltage control strategy (VCS) is produced to compensate the nonlinearity, complexity and uncertainty effect. Following this further, one more advantage of this scheme is that it is free from the robot dynamical models. In general, the employed controller is very simple, less computational and due to using the adaptive PSO approach can find the best controller parameter to enhance trajectory tracking velocity. The designed controller has a smooth control effort to drive the robotic motors with negligible error during the control process. Finally, the superiority of the APSODAFC is illustrated over the PD-like fuzzy controller. The tracking trajectory error applied to SCARA robot is compared in simulation results to validate the effectiveness of the proposed algorithms.