Design and Evaluation of a MIMO ANFIS using
MATLAB and V-REP
Journal:
GRENZE International Journal of Engineering and Technology
Authors:
Mokhles M. Abdulghani, Kasim M. Al-Aubidy
Volume:
6
Issue:
2
Grenze ID:
01.GIJET.6.2.11_2
Pages:
129-136
Abstract
Employing software computing tools, such as fuzzy logic, neural networks and
genetic algorithms, encouraged researchers to design intelligent systems that mimic human
behavior. The Adaptive Fuzzy Nervous System (ANFIS) is one of the most useful hybrid
technologies for designing intelligent control algorithms. Designing a Multiple-Input,
Multiple-Output (MIMO) ANFIS algorithm, is not an easy task for those with limited
programming experience. This paper presents a simple way to design MATLAB-based
MIMO ANFIS controllers for two mechatronics plants; a two-wheeled mobile robot and a
6DOF KUKA robotic arm. The 3D simulation software (V-REP) has been interfaced
directly with the MATLAB Simulink to test the proposed controller. The generated 3D
simulation environment given in this paper will help researchers to easily design and test of
MIMO ANFIS algorithms. The obtained results demonstrate the performance of the mobile
robot and ability of the implemented ANFIS controller to deal with input commands,
obstacle avoidances in the working environment.