Title: Control of three-links robot arm based on fuzzy neural Petri nets

Authors: Salam Abdul Hady; Abduladhem A. Ali; Waleed I. Breesam; Ameer Lateef Saleh; Yasir I.A. Al-Yasir; Raed A. Abd-Alhameed

Addresses: Basra Oil Training Institute, 61019 Basra, Iraq ' Department of Computer Engineering, University of Basrah, Iraq ' Basra Oil Training Institute, 61019 Basra, Iraq ' Department of Electrical Engineering, University of Misan, Iraq ' School of Electrical Engineering and Computer Science, Faculty of Engineering and Informatics, University of Bradford, Bradford, UK ' School of Electrical Engineering and Computer Science, Faculty of Engineering and Informatics, University of Bradford, Bradford, UK

Abstract: A fuzzy neural Petri nets (FNPNs) controller is utilised for controlling a three-links robot arm which considers a nonlinear dynamic system. The incorporation of the classical FNN with a Petri net (PN) has been suggested to produce a new representing system called FNPN structure to alleviate the computation burden. The motion equation of three links robot arm is derived from Lagrange's equation. This equation has been incorporated with the motion equations of DC servo motors which motivate the robot. For nonlinearity dynamic problems, this paper presents a direct adaptive control technique to control three links robot arm utilising the FNPN controller. The computer simulation depicts that the present FNPN controller accomplished better performance with fast response and minimum error.

Keywords: fuzzy neural Petri net; FNPN; forward adaptive control; robot arm control.

DOI: 10.1504/IJAAC.2023.127284

International Journal of Automation and Control, 2023 Vol.17 No.1, pp.116 - 131

Accepted: 01 Oct 2021
Published online: 30 Nov 2022 *