Effects of sampling rate and scaling coefficients on the performance of a PD-type fuzzy logic controller for a two-link planar robotic arm

Abstract

Abstract A computed-torque controller that uses a PD-type fuzzy logic controller as compensator is studied in this paper. Its robustness and sensitivity against modeling errors, sampling rate and scaling coefficients have been investigated and compared with conventional PD-compensated computed-torque controller. It has been shown that even though the fuzzy logic controller is more robust than its conventional competitor, its performance is affected by change of sampling rate and scaling coefficients.