Affiliations: Department of Industrial Engineering, University of Yazd, University Blvd. – Safayieh, yazd, Iran
Correspondence:
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Corresponding author. Mohammad Bagher Fakhrzad, Department of Industrial Engineering, University of Yazd, University Blvd. – Safayieh, yazd, Iran. Tel./Fax: +98 35 31232405; E-mail: mfakhrzad@yazd.ac.ir.
Abstract: This paper presents a method for hybridizing artificial hormones controller with type-2 fuzzy controller. Artificial hormones robot control system provides the ability to self-control, while the fuzzy controller is appropriate for nonlinear systems with time delay and dynamic systems. This paper presents three feasible scenarios of hybridizing two controllers. Controller performance indicators, such as settling time, overshoot, steady state error, and integrals known as feedback error performance indices (integral absolute error [IAE], integral squared error [ISE], integral time-weighted absolute error [ITAE], integral of time multiplied by the squared error [ITSE]), were studied and compared. The results of the hybrid controller for each of the scenarios show that it has better performance than any of the fuzzy and artificial hormone controllers alone. Energy consumption in the base and hybrid controllers was compared. The results show that the energy consumption for the hybrid controller is 20 to 30% less than the base controller.
Keywords: Robot control system, hybrid controller, artificial hormone controller, fuzzy type-2 controller, performance indices
