Comparison of Neural Network and Fuzzy Logic Control for Nonlinear Model of Two Link Rigid Manipulator

Abstract

A model with multiple inputs and multiple outputs is considered to simulate two links rigid manipulator. Its mathematical model is obtained by using Euler's Lagrange method. A new intelligent scheme based on fixed stabilization technique is proposed in this paper for controlling the system. Comparison of Neural Network and Fuzzy Logic controller designed by utilizing this technique is also presented. The control law is determined such that the system output follows the reference trajectory. Controller design and simulation is done in MATLAB & Simulink. Simulation results validate the proposed controllers design and their comparison shows that Fuzzy Logic controller outperforms Neural Network controller. © 2014 SERSC.