[01] Ayman A. Aly, Mechanical Engineering Dept., College of Engineering, Taif University, Taif, Saudi Arabia.

This paper starts with a section about one DOF electrohydraulic manipulator modelling. After that, research on fuzzy control, theory and application, is surveyed to provide a brief background for the research described in the study. The structure of FLC is presented in details, among which only the conventional FLC is studied thoroughly in this work. Furthermore, the parameters of the controllers were optimized using MATLAB and better results for the time responses were obtained. Finally, the experimental results demonstrate that the proposed controller can work probably.

Fuzzy Control, Dynamic Model, Robotic, Manipulator Arm

[01] Z.-X. Cai, “Intelligent Control”, Electronics Industry press, Beijing, China, 1996. [02] Ayman A. Aly “Modelling and control of an electro-hydraulic servo motor Applying velocity feedback control strategy”, International Mechanical Engineering Conference & Expo (IMEC2004), Kuwait. [03] Ayman A. Aly and Aly S. Abo El-Lail, “Self Tuning PI Fuzzy Position Control of A Hydraulic Manipulator” Journal of Engineering Science, JES, Vol. 33, No. 1, pp 199-209, January 2005. [04] Khalil A. Khalil, Ayman A. Aly and A. Abo-Ismail, “Tip Position Control of A Single Flexible Arm”, International Conference on Mechatronics (ICOM05), Malaysia. [05] Ayman A. Aly, “A Non Linear Optimal PID Control of A Hydraulic Crane” Journal of Engineering Science, JES, Vol. 33, No. 1, pp 199-209, Feb. 2007. [06] Ayman A. Aly and S. Elnaggar, “Genetic PD Control of a Three-Link Rigid Spatial Manipulator,” International Journal on Automatic Control System Engineering, ICGST-ACSE Journal, Vol. 11, No.1, pp 15-22, June 2011, Germany. [07] Ayman A. Aly, Aly S. Abo El-Lail, Kamel A. Shoush, Farhan A. Salem,” Intelligent PI Fuzzy Control of An Electro-Hydraulic Manipulator,” I. J. Intelligent Systems and Applications (IJISA),7,43-49,2012. [08] Ayman A. Aly, "Model Reference PID Control of an Electro-hydraulic Drive" I. J. Intelligent Systems and Applications (IJISA), 11, 24-32, 2012. [09] Ayman A. Aly, A. A. Alshnnaway,, A. Abo-Ismail, S. Dossokey, “Self-Learning Intelligent Controller of Electro hydraulic Actuator”, International Journal of Engineering and Manufacturing (IJEM), Vol.3, No.1, pp.28-37, 2013. [10] Ayman A. Aly and Aly S. Abo El-Lail ,"Intelligent PI Fuzzy Control of an Electro-Hydraulic Manipulator", International Journal of Control, Automation And Systems (IJCAS) 3 (2), PP.19-24, 2014. [11] Ayman A. Aly, Farhan A. Salem, "Design of Intelligent Position Control for Single Axis Robot Arm", International Journal of Scientific & Engineering Research, Volume 5, Issue 6, pp 790-795, 2014. [12] Farhan A. Salem, Ayman A. Aly, "PD Controller Structures: Comparison and Selection for an Electromechanical System", PP.1-12, Vol. 7, No. 2, I. J. Intelligent Systems and Applications (IJISA) January 2015. [13] Farhan A. Salem, Ayman A. Aly, Mosleh Al-Harthi and Nadjim Merabtine, "New Control Design Method for First Order and Approximated First Order Systems", International Journal of Control, Automation And Systems (IJCAS) V4 (2), PP 7-17, 2015.