Department of Control and Systems Engineering at the University of Technology granted master's degree majoring in Mechatronics for the student Athraa Faraj Sagban tagged for its mission:
(Type-2 Fuzzy Joint Trajectory Control of a Hydraulic Excavator)
(Fuzzy Control of Type 2 path joints hydraulic dredger)
Discussion Committee comprised of dr. Saad Abdul Redha Maki (president) , dr. Arif Abdul Rahman Ibrahim, dr. Ahmed Alaa Ogla (members) dr. Mohammad Yusuf Hassan ( member and supervisor)
In her research the student designed dominant blur of Type-2 for control of the site bucket dredger robotic. Where the drilling rig operating in the drilling process, the controllers consist of a controlled hazy type -2-Mamdani)) 2. Disproportionate number - a derivative to monitor the location and number 3 proportional - derivative controls by force. It is used ant colony algorithm in order to reach an accurate time responses to a site with less error ratio and adjust the controllers transactions (force-site) to get the best site time responses. Describes the non-linear model of the robotic excavator with four degrees of free joints which include three active joints. Robotic dredger of three parts: Elkinmatk and Aldainmk and hydraulic model consists. As it has been the study of nonlinear and uncertainty in the electrical system hydraulic model. These include oil leakage and friction in the joints. Friction model represents a form of friction (LuGre) that can predict the behaviors of the hydraulic cylinder and with good accuracy. Uncertainty gets the diversity of bulk modulus.