Design PID Controller Tuned by Using Fuzzy Logic for 3 Link Robot Manipulator

AliAbdul-Sadahali.muhssen@alkafeel.edu.iq

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Design PID Controller Tuned by Using Fuzzy Logic for 3 Link Robot Manipulator

AliAbdul-Sadahali.muhssen@alkafeel.edu.iq ^*

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Abstract

Robots are commonly used in industry, but they have limitations like complex dynamics, difficulties with flexibility, and nonlinearity. This research aims to enhance the tracking performance of a three-DOF open-chain robot manipulator. So, the driven dynamic equations will be utilized to identify the nonlinear robot model. The objective of this study is to achieve the desired performance of a three-degree-of-freedom (3-DOF) robot through the implementation of a Fuzzy Logic Self-Tuning Proportional-Integral-Derivative (PID) controller. The proposed PID controller exhibits notable distinctions when compared to the traditional PID controller. In conventional PID control, model parameters are determined by a range of procedures, including Ziegler-Nichols. However, in the context of fuzzy logic self-tuning PID control, these parameters are selected utilizing intelligent methodologies. This paper presents one of the smart methods (Fuzzy logic) as a tuner to obtain the PID parameter value. After the model of the 3-DoF Robot manipulator is driven, The PID controller tuned by Fuzzy logic is created in two scenarios: 1. Using the error and error derivative. 2. Using the error and error integral. The data obtained from the simulation indicate that the proposed controllers have the ability to enhance the overall efficiency of the 3-DoF Robot manipulator.

Keywords

3-DOF Robot manipulator nonlinear model PID Fuzzy Logic Controller PID tuned by Fuzzy logic.

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, AliAbdul-Sadahali.muhssen@alkafeel.edu.iq. "Design PID Controller Tuned by Using Fuzzy Logic for 3 Link Robot Manipulator." Fusion: Practice and Applications, vol. , no. , , pp. . DOI:

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