الفهرس 
1 INTRODUCTIONOnly 14 pages are availabe for public view
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Abstract
Accurate positioning is an important desired feature of robotic manipulators,
and controlling these complicated systems with their high nonlinearity and coupling
effect is a difficult task. Nevertheless, there has been a significant and fast progress
in this field of control in the recent years, and different control strategies have been
suggested to solve this problem. A vast majority of these control schemes are model
based, where the dynamic model of the controlled system must be known. On many
occasions it is not easy to obtain a precise dynamic model of the robotic manipulator
due to the presence of structured and unstructured uncertainties and external
disturbances. Therefore, many control schemes have been presented to deal with
unknown dynamic models of robotic manipulators.
This thesis focuses on finding a solution for the robotic manipulator
uncertainties through designing and implementing a robust controller that can
compensate those uncertainties. In this thesis, the proposed 2-DOF fuzzy PD (FPD)
controller is developed by combining the advantages of 2-DOF structure and fuzzy
structure to produce another more robust controller. The analytical structure of the
proposed 2-DOF FPD controller is derived to obtain the relationship between the
inputs and output of the controller. Moreover, the proposed adaptive 2-DOF PID
controller is adapted by using the advantages of supervisory fuzzy logic system
(FLS). The main advantage of using the proposed controllers for controlling the
robot manipulator is obtaining a high performance for this nonlinear system.
All the proposed methods are performed in simulation using MATLAB
environment and are practically implemented using Arduino Mega 2560
microcontroller board. The performance analyses for both simulation and
experimentation proved that the proposed controllers have a better performance
compared to other existing schemes. Also, the proposed controllers are more robust
in the case of the presence of disturbances or other variations.