Article Per Year (5 Year)
p-Index From 2021 - 2026
0.444
P-Index
This Author published in this journals
All Journal Journal of Fuzzy Systems and Control (JFSC) Control Systems and Optimization Letters
Hai-Thanh Nguyen
Nguyen Huu Canh Technical and Economics Intermediate School
Aerospace Engineering Automotive Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering

Published : 2 Documents Claim Missing Document
Claim Missing Document
Check
Articles

Found 1 Documents
Search
Journal : control systems and optimization letters

 1 
Trajectory Tracking Controller Design for a One-degree-of-Freedom Robotic Arm using Fuzzy Logic and Neural Controllers Quang-Thien Nguyen; Anh-Huy Nguyen; Hoang-Linh Le; Hai-Thanh Nguyen; Thi-Hong-Lam Le; Ngoc-Hung Nguyen; Van-Hiep Nguyen; Thanh-Binh Nguyen; Thi-Ngoc-Thao Nguyen; Minh-Tam Nguyen; Phong-Luu Nguyen; Hoang-Lam Le; Son-Thanh Phung
Control Systems and Optimization Letters Vol 4, No 1 (2026)
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/csol.v4i1.271

Abstract

The one-degree-of-freedom (1-DOF) robotic arm is a fundamental platform widely used in laboratories for teaching and evaluating position and trajectory control strategies. This paper presents the modeling, simulation, and experimental implementation of a 1-DOF robotic arm system using intelligent control approaches. A Fuzzy Logic Controller (FLC) and a neural network controller (NNC) based on a multi-layer perceptron (MLP) were designed and evaluated in MATLAB/Simulink and implemented in real time on an STM32F4 embedded hardware platform. Both controllers were tested under step and sinusoidal reference inputs, achieving tracking errors below 5°, settling times of approximately 0.1 s (within ±2%), and limited overshoot. Although the neural network successfully reproduced the general control behavior of the FLC, the fuzzy controller demonstrated slightly smoother responses and lower control effort under multi-level step conditions. A primary contribution of this work is the development and validation of a low-cost STM32F4G-based embedded platform for implementing and experimentally evaluating intelligent control algorithms, providing a practical and scalable solution for intelligent control research and laboratory education in universities.
Co-Authors Anh-Huy Nguyen Hoang-Lam Le Hoang-Linh Le Hoang-Thong Nguyen Le-Minh-Kha Nguyen Minh-Tam Nguyen Ngoc-Hung Nguyen Phong-Luu Nguyen Phuoc-Dat Tran Quang-Khai Nguyen Quang-Thien Nguyen Quoc-Thuan Nguyen Son-Thanh Phung Thanh-Binh Nguyen Thanh-Toan Nguyen Thi-Hong-Lam Le Thi-Ngoc-Thao Nguyen Van-Hiep Nguyen