Optimization of Hybrid Robot Control System Using Artificial Hormones and Fuzzy Logic

In this paper, a method for hybridizing artificial hormones controller with type_2 fuzzy controller is presented. Artificial hormones robot control system provides the ability to self-control, the fuzzy controller is appropriate for nonlinear systems with time delay and dynamic systems. This paper presents three feasible scenarios of hybridizing two controllers. Controller performance indicators such as settling time, overshoot, steady state error, Integrals known as feedback error performance indices (IAE, ISE, ITAE, ITSE), were studied and compared. The results of the Hybrid controller for each of the scenarios show that it has better performance than any of the fuzzy controller and artificial hormone controller alone. Energy Consumption in based controller and hybrid controller was compared. The results show that the energy consumption for the hybrid controller is 20% to 30% less than the base controller.