Design and implementation of PI and fuzzy PID supervisory controllers for a flexible link robot

In this paper, PID controllers are designed to enhance the trajectory tracking performance of a flexible link robot. Firstly, a PI controller is used where conventional Ziegler-Nichols method adjusts the controller parameters. In addition, Fuzzy PID controller is designed in which fuzzy rules are utilized on-line to tune the PID controller parameters based on the current value of error and its first time-derivative. Also, effects of several defuzzification methods on the closed-loop system are investigated in this paper. A flexible link robot is implemented and controllers are applied. Experimental results confirm the performance of the fuzzy PID controller.

[1]  Jamil M. Renno,et al.  Inverse Dynamics Based Tuning of a Fuzzy Logic Controller for a Single-Link Flexible Manipulator , 2007 .

[2]  Dawid Zydek,et al.  Modeling and nonlinear control of a flexible-link manipulator , 2013 .

[3]  Deepika,et al.  Modelling, stability analysis and control offlexible single link robotic manipulator , 2014 .

[4]  Vicente Feliú Batlle,et al.  Position control of very lightweight single-link flexible arms with large payload variations by using disturbance observers , 2012, Robotics Auton. Syst..

[5]  Rajnikant V. Patel,et al.  Nonlinear tip-position tracking control of a flexible-link manipulator: theory and experiments , 2001, Autom..

[6]  Masayoshi Tomizuka,et al.  Fuzzy gain scheduling of PID controllers , 1993, IEEE Trans. Syst. Man Cybern..

[7]  Afshan Ilyas,et al.  Tuning Of Conventional Pid And Fuzzy Logic Controller Using Different Defuzzification Techniques , 2013 .

[8]  G. Silva-Navarro,et al.  Trajectory Tracking Control in a Single Flexible-Link Robot using Finite Differences and Sliding Modes , 2015 .

[9]  G. Mallesham,et al.  AUTOMATIC TUNING OF PID CONTROLLER USING FUZZY LOGIC , 2008 .

[10]  J. Lin,et al.  Fuzzy logic control for flexible link robot arm by singular perturbation approach , 2002, Appl. Soft Comput..

[11]  Guanrong Chen,et al.  Mathematical modeling and fuzzy control of a flexible-link robot arm , 1998 .

[12]  S. K. Ider,et al.  Hybrid force and motion control of robots with flexible links , 2010 .

[13]  Abul K. M. Azad,et al.  Flexible Robot Manipulators: Modelling, simulation and control , 2017 .