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All Journal Indonesian Journal of Engineering and Science (IJES) Journal of Fuzzy Systems and Control (JFSC) Control Systems and Optimization Letters
Nguyen, Thi-Ngoc-Thao
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Aerospace Engineering Automotive Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering Materials Science & Nanotechnology Mechanical Engineering

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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 Nguyen, Quang-Thien; Nguyen, Anh-Huy; Le, Hoang-Linh; Nguyen, Hai-Thanh; Le, Thi-Hong-Lam; Nguyen, Ngoc-Hung; Nguyen, Van-Hiep; Nguyen, Thanh-Binh; Nguyen, Thi-Ngoc-Thao; Nguyen, Minh-Tam; Nguyen, Phong-Luu; Le, Hoang-Lam; Phung, Son-Thanh
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 Bui, Hong-Nho Bui, Hung-Thinh Bui, Viet-Tien-Dung Dang, Huu-Loc Dang, Phuc-Khanh Dang, Thien-Quoc Dang, Tran-Gia-Bao Dieu, Nghia Dinh, Dang-Khoa Do, Le-Huu-Tri Do, Ngoc-Huy Ho, Thanh-Phuong Ho, Thanh-Viet Hoang, Minh-Giap Hoang, Minh-Tri Hong, Vi-Cuong Huynh, Anh-Tuan Huynh, Trung-Son Lam, Xuan-Minh-Nhat Le, Dinh-Duc-Vinh Le, Dinh-Nguyen-Phuc Le, Hoang-Lam Le, Hoang-Linh Le, Hoang-Nhat-Huy Le, Ngoc-Long Le, Quoc-Tuan Le, Thi-Hong-Lam Le, Thi-Thanh-Hoang Le, Tuan-Kiet Le, Van-Huy Le, Xuan-Cuong Lieu, Vinh-Hung Luong, Hoang-Sang Nguyen, Anh-Huy Nguyen, Anh-Tuan Nguyen, Binh-Hau Nguyen, Duc-Dat Nguyen, Duong-Thuan Nguyen, Ha-Thien-Phuc Nguyen, Hai-Thanh Nguyen, Hoang-Nguyen Nguyen, Hoang-Thong Nguyen, Hung-Ky Nguyen, Huynh-Duc-Anh Nguyen, Huynh-The-Hung Nguyen, Kieu-Vinh Nguyen, Le-Anh-Tuan Nguyen, Le-Minh-Kha Nguyen, Le-Minh-Quan Nguyen, Le-Minh-Tan Nguyen, Le-Nhat-Minh Nguyen, Minh-Khoa Nguyen, Minh-Tam Nguyen, Ngoc-Hung Nguyen, Nhat-Nam Nguyen, Phong-Luu Nguyen, Quang-Khai Nguyen, Quang-Thien Nguyen, Quoc-Bao Nguyen, Quoc-Thuan Nguyen, Thanh-Binh Nguyen, Thanh-Sang Nguyen, Thanh-Toan Nguyen, The-Nhan Nguyen, Tien-Dat Nguyen, Truong-Viet Nguyen, Van-Bac Nguyen, Van-Dong-Hai Nguyen, Van-Hai Nguyen, Van-Hiep Nguyen, Van-Tuan Nguyen, Xuan-Tien Pham, Gia-Loc Pham, Huynh-Anh-Tuan Pham, Huynh-Duc Pham, Huynh-Khanh-Nam Pham, Ngoc-Bao Pham, Truong-Phuong-Nam Phan, Thanh-Binh Phan, Truong-Nguyen Phu, Thi-Ngoc-Hieu Phung, Son-Thanh Tran, Hai-Nam Tran, Huu-Nhan Tran, Nam-Long Tran, Nguyen-Cong-Anh Tran, Nguyen-Thanh-Loc Tran, Phuoc-Dat Tran, Quang-Huy Tran, Thi-Ngoc-Tram Tran, Trong-Bang Tran, Van-Toan Tran, Vo-Minh-Khoa Truong, Nhat-Bang Truong, Tuan-Minh Vo, Binh-An Vu, Bao-Huy