Hybrid Fuzzy-Expert System Control for Robotic Manipulator Applications

Phichitphon Chotikunnan; Kittipan Roongprasert; Rawiphon Chotikunnan; Yutthana Pititheeraphab; Tasawan Puttasakul; Anantasak Wongkamhang; Nuntachai Thongpance

doi:10.18196/jrc.v6i1.24956

Authors

Phichitphon Chotikunnan Rangsit University https://orcid.org/0000-0002-6617-6805
Kittipan Roongprasert Rangsit University
Rawiphon Chotikunnan Rangsit University
Yutthana Pititheeraphab Rangsit University
Tasawan Puttasakul Rangsit University
Anantasak Wongkamhang Rangsit University
Nuntachai Thongpance Rangsit University

DOI:

https://doi.org/10.18196/jrc.v6i1.24956

Keywords:

Expert System, Fuzzy Logic, Switching Mechanism, Robotic Control Systems

Abstract

This research examines a hybrid fuzzy-expert system for the control of robotic manipulators, integrating the flexibility of fuzzy logic with the analytical decision-making capabilities of expert systems. The hybrid system switches dynamically between triangle membership functions, which facilitate smooth transitions, and trapezoidal membership functions, which efficiently manage sudden step changes. This adaptive technique mitigates the shortcomings of independent fuzzy logic controllers, particularly their inconsistency across varied setpoints. Simulation outcomes demonstrate substantial decreases in overshoot and settling time, as well as enhanced adaptability and flexibility in dynamic settings. A comparison test shows that the hybrid system is better than separate triangular and trapezoidal fuzzy controllers because it chooses the best control strategy based on the setpoint attributes in real time. Although there are occasional compromises in accuracy (IAE and RMSE), the hybrid controller provides balanced performance appropriate for various robotic applications. The results confirm its viability as a dependable option for industrial and medical robots, particularly in applications necessitating precision control and adaptability.

Author Biographies

Phichitphon Chotikunnan, Rangsit University

Assoc. Prof. Acting Sub LT. Phichitphon Chotikunnan is a Lecturer of the Biomedical Engineering Program at the College of Biomedical Engineering, Rangsit University. He has expertise in robotics, embedded systems, fuzzy logic control, and iterative learning control. He holds a Doctor of Engineering degree in Electrical and Information Engineering and a Master of Engineering in Electrical Engineering, both from King Mongkut's University of Technology Thonburi. He also has a Bachelor of Engineering in Mechatronics Engineering from Pathumwan Institute of Technology.

He has published in international journals and conferences, and he has been involved in various research projects. His work experiences include positions as a Teaching Assistant, Control and Instrumentation Engineer, R&D Embedded Applications, Lecturer, and R&D Consultant. He has also participated in numerous training programs and workshops, and he has received several awards for his research excellence.

Kittipan Roongprasert, Rangsit University

He is a Lecturer in the Biomedical Engineering Program at the College of Biomedical Engineering, Rangsit University, with a Bachelor’s degree in Medical Instrumentation from Rangsit University (2006) and a Master’s degree in Biomedical Engineering from King Mongkut's Institute of Technology Ladkrabang (2016). His research interests include medical devices, equipment calibration, microcontrollers, and instrumentation.

Rawiphon Chotikunnan, Rangsit University

He is a Lecturer in the Biomedical Engineering Program at the College of Biomedical Engineering, Rangsit University. With a Master of Engineering in Biomedical Engineering from Rangsit University and a Bachelor of Information Technology in Interactive Design and Game Development from Dhurakij Pundit University, his Research Interests Include Interactive Media, Medical Image Processing, Robots, and Control Systems.

Yutthana Pititheeraphab, Rangsit University

He is currently a Lecturer in the Biomedical Engineering Program at the College of Biomedical Engineering, Rangsit University. He holds a Doctor of Philosophy in Biomedical Engineering, a Master of Engineering in Biomedical Electronics Engineering, and a Bachelor of Engineering in Telecommunication Technology from King Mongkut's Institute of Technology Ladkrabang. His research interests include robotics, embedded systems, control systems, and image processing.

Anantasak Wongkamhang, Rangsit University

He serves as a Lecturer in the Biomedical Engineering Program at the College of Biomedical Engineering, Rangsit University. He holds a Bachelor's degree in Medical Instrumentation from Rangsit University (2006) and a Master's degree in Biomedical Engineering from King Mongkut's Institute of Technology Ladkrabang (2014). His research interests span medical devices, equipment calibration, hospital engineering, microcontrollers, and instrumentation.

Nuntachai Thongpance, Rangsit University

Nuntachai Thongpance is currently an associate professor and the dean of the Faculty of Biomedical Engineering at Rangsit University. He established both undergraduate and graduate programs in medical instrumentation and biomedical engineering at Rangsit University. Nuntachai earned his Master of Engineering in nuclear technology from Chulalongkorn University in 1987 and his Bachelor of Science in physics with second-class honors from Prince of Songkla University in 1984. His research interests include medical devices, biomedical engineering, and healthcare management engineering.

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