Comparative Analysis of PID and Fuzzy Logic Controllers for Position Control in Double-Link Robotic Manipulators
Journal Title: Journal of Intelligent Systems and Control - Year 2023, Vol 2, Issue 4
Abstract
This study presents a comprehensive evaluation of linear and non-linear control systems, specifically Proportion Integration Differentiation (PID) and fuzzy logic controllers, in the context of position control within double-link robotic manipulators. The effectiveness of these controllers was rigorously assessed in a simulated environment, utilizing MATLAB Simulink for the simulation and SOLIDWORKS for the model design. The PID controller, characterized by its Kp, Ki, and Kd components, was implemented both in the simulation and on the hardware. However, due to the constraints of the microcontroller's RAM and processor, which facilitate the hardware's connection with MATLAB, the application of the Fuzzy Logic concept to hardware was not feasible. In the simulated environment, the fuzzy logic controller demonstrated superior stability in comparison to the PID controller, evidenced by a lower settling time (1.0 seconds) and overshoot (2%). In contrast, the PID controller exhibited a settling time of 0.2 seconds and an overshoot of 32%. Additionally, the fuzzy logic controller showcased a 44% reduction in steady-state error relative to the PID controller. When applied to hardware, the PID controller maintained stable results, achieving a settling time of 0.6 seconds and an overshoot of 2%. The steady-state errors for Link 1 and Link 2 were recorded as 3.6° and 1.4°, respectively. The findings highlight the fuzzy logic controller's enhanced stability, rendering it more suitable for ensuring the accuracy and protection of the manipulator system. As a non-linear controller, the fuzzy logic controller efficiently addresses various potential errors through its intelligent control mechanism, which is embedded in its fuzzy rules. Conversely, the PID controller, a linear controller, responds rapidly but may lack flexibility in complex scenarios due to its inherent linearity. This study underscores the importance of selecting an appropriate controller based on the specific requirements of robotic manipulator systems, with a focus on achieving optimal performance and stability.
Authors and Affiliations
Nor Maniha Abdul Ghani, Aqib Othman, Azrul Azim Abdullah Hashim, Ahmas Nor Kasrudin Nasir
Keywords
Related Articles
- EP ID EP732131
- DOI https://doi.org/10.56578/jisc020401
- Views 15
- Downloads 0
A Vector Equation Method for Analyzing Kinematics and Kinetostatics of Toggle-Type Transmission Mechanism
With the help of vector equations and MATLAB software, this paper studied the kinematics and kinetostatics of toggle-type transmission mechanism (hereinafter referred to as “toggle mechanism” for short) and attained the...
Detection and Interpretation of Indian Sign Language Using LSTM Networks
Sign language plays a crucial role in communication for individuals with speech or hearing difficulties. However, the lack of a comprehensive Indian Sign Language (ISL) corpus impedes the development of text-to-ISL conve...
Enhanced Tracking of DC-DC Buck Converter Systems Using Reduced-Order Extended State Observer-Based Model Predictive Control
In this study, the challenges of load variations, input voltage fluctuations, and reference voltage deviations for a DC-DC buck converter system are addressed. A composite voltage controller, founded on a model predictiv...
Neural Network-Based Control and Active Vibration Mitigation in a Fully-Flexible Arm Space Robot under Elastic Base Influence: A Luenberger Observer Approach
This study explores dynamic simulation and integrated control in a space robotic arm system characterized by a fully-flexible arm and an elastic base. The elastic base is modeled as a lightweight spring, and the modal sh...
Performance Evaluation of a Sliding Mode Control-Kalman Filter-Based Mathematical Model for Altitude and Attitude Control in Quadcopters
This study presents an evaluation of a mathematical model designed for altitude and attitude control in quadcopters, employing Sliding Mode Control (SMC) in conjunction with the Kalman Filter algorithm. The developed mat...