Comparative Performance of Mamdani and Sugeno Fuzzy Logic Control Systems in Governing the Motion of a Robotic Arm

Abstract

In this research, a simulation study of a prototype medical robotics system was conducted to evaluate the performance of Mamdani and Sugeno fuzzy logic control systems in response to varying Step Input values. The Mamdani control system demonstrated faster response times and better adherence to setting time in the absence of disturbances. However, the Sugeno system outperformed Mamdani in scenarios where overshoot percentage was a critical factor. Even in the presence of disturbances, Mamdani maintained faster response times, lower Risetime, and minimal or no overshoot. Nevertheless, Mamdani's setting time responses were sometimes similar to or slower than Sugeno, which may be attributed to Mamdani's higher fuzziness compared to Sugeno's more linear nature. In conclusion, Mamdani exhibited superior speed and adherence to setting time when overshoot percentage was not a critical factor. Furthermore, Mamdani's higher fuzziness, compared to Sugeno's linearity, may explain the observed differences in responses between the two fuzzy logic control systems.