Embedded Adaptive 2-DOF PID Controller for Robot Manipulator using a Supervisory Fuzzy Logic System

Document Type : Original Article

Authors

1 Egyptian German Co., 6th of October City, Egypt

2 Menoufia University, Faculty of Electronic Engineering

3 4Department of Industrial Electronics and Control Engineering

4 Department of Industrial Electronics and Control Engineering Faculty of Electronic Engineering, Menoufia University Menouf, 32952, Egypt

Abstract

The objective of this study is to finding a solution to overcome the uncertainties and nonlinearities of a robot manipulator, like disturbances and other variations, in real-time by designing and implementing an adaptive 2- degree of freedom (DOF) proportional-integral-derivative (PID) controller. The proposed controller is performed using a supervisory fuzzy logic system (FLS). The employed controller proves its robustness in trajectory tracking. The performance analysis for PID, 2-DOF PID, and adaptive 2-DOF PID controllers is performed by doing the simulation using Matlab. On the other hand, the proposed controller is implemented practically using a microcontroller to prove that the proposed adaptive 2-DOF PID controller has a better performance compared to other traditional fixed-gain controllers. Also, the controller is more robust in the case of the presence of disturbances or other variations.

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Menoufia Journal of Electronic Engineering Research
Volume 31, Issue 1
January 2022
Pages 55-62

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