Optimization of Fuzzy Adaptive Logic Controller for Robot Manipulators Using Modified Greater Cane Rat Algorithm

Jian Sun, Shuyi Wu, Jinfu Chen, Xingjia Li (), Ziyan Wu, Ruiting Xia, Wei Pan and Yan Zhang
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Jian Sun: School of Computer Science and Communication Engineering, Jiangsu University, Zhenjiang 212013, China
Shuyi Wu: School of Software Technology, Dalian University of Technology, Dalian 116086, China
Jinfu Chen: School of Computer Science and Communication Engineering, Jiangsu University, Zhenjiang 212013, China
Xingjia Li: School of Mechanical Engineering, Jiangsu University, Zhenjiang 212013, China
Ziyan Wu: School of Computer Science and Communication Engineering, Jiangsu University, Zhenjiang 212013, China
Ruiting Xia: School of Computer Science and Communication Engineering, Jiangsu University, Zhenjiang 212013, China
Wei Pan: School of Information Engineering, Jiangsu Vocational College of Agriculture and Forestry, Jurong 212400, China
Yan Zhang: School of Computer Science and Communication Engineering, Jiangsu University, Zhenjiang 212013, China

Mathematics, 2025, vol. 13, issue 10, 1-15

Abstract: In the control of robot manipulators, input torque constraints and system nonlinearities present significant challenges for precise trajectory tracking. However, fuzzy adaptive logic control (FALC) often fails to generate the optimal membership functions or function intervals. This paper proposes a modified greater cane rat algorithm (MGCRA) to optimize a fuzzy adaptive logic controller (FALC) for minimizing input torques during trajectory tracking tasks. The main innovation lies in integrating the improved MGCRA with FALC, which enhances the controller’s adaptability and performance. For benchmarking, several state-of-the-art swarm intelligence algorithms—including particle swarm optimization (PSO), artificial bee colony (ABC), ant colony optimization (ACO), gray wolf optimization (GWO), covariance matrix adaptation evolution strategy (CMA-ES), adaptive guided differential evolution (AGDE), the basic greater cane rat algorithm (GCRA), and a trial-and-error method—are compared under identical conditions. Experimental results show that the MGCRA-tuned FALC achieves lower input torques and improved trajectory tracking accuracy compared to other methods. The findings demonstrate the effectiveness and potential of the proposed MGCRA-FALC framework for advanced robotic manipulator control.

Keywords: fuzzy adaptive logic control (FALC); swarm intelligence; modified greater cane rat algorithm (MGCRA); friction compensation; robot manipulators (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2025
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