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PD/PID-Fuzzy Logic Controller Based Tracking Control of 2-Link Robot Manipulator

Amit Kumar*, Shrey Kasera**, Lal Bahadur Prasad***

*-*** Department of Electrical Engineering, Madan Mohan Malaviya University of Technology, Gorakhpur, Uttar Pradesh, India.

Periodicity:February - April'2019
DOI : https://doi.org/10.26634/jic.7.2.16658

Abstract

Robot manipulators are multi-link nonlinear system with higher uncertainties and disturbances. To obtain desired accuracy and high performance, the controlling of robot should be in real time. Due to higher uncertainties and disturbances like variation in pay load frictions, the performance and accuracy of the system is highly deviated from desired performance and accuracy. This paper presents PD Fuzzy logic controller based scheme to track the desired trajectory of 2-link robot manipulator. In this PD fuzzy logic controller based scheme, the output of the system is fed to Fuzzy logic controller as input. The error and change in error is given as input to Fuzzy logic controller and this control scheme is capable in compensation of disturbances. In MATLAB environment, the simulation is performed and the reference trajectory of robotic system is tracked with minimum error.

Keywords

Robot Manipulator, Nonlinear, Fuzzylogic, PD Control.

How to Cite this Article?

Kumar, A., Kasera, S., and Prasad, L. B. (2019). PD/PID-Fuzzy Logic Controller Based Tracking Control of 2-Link Robot Manipulator. i-manager's Journal on Instrumentation and Control Engineering, 7(2), 18-25. https://doi.org/10.26634/jic.7.2.16658

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