Embedded Adaptive 2-DOF PID Controller for Robot Manipulator using a Supervisory Fuzzy Logic System | ||
| Menoufia Journal of Electronic Engineering Research | ||
| Article 8, Volume 31, Issue 1, January 2022, Pages 55-62 PDF (1.76 M) | ||
| Document Type: Original Article | ||
| DOI: 10.21608/mjeer.2022.218822 | ||
| Authors | ||
| Atef Abdrabou Mohammed* 1; Ahmed M. El-Nagar2; Emad A. Elsheikh3; Mohammad El-Bardini4 | ||
| 1Egyptian German Co., 6th of October City, Egypt | ||
| 2Menoufia University, Faculty of Electronic Engineering | ||
| 34Department of Industrial Electronics and Control Engineering | ||
| 4Department 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. | ||
| Keywords | ||
| PID; 2-DOF PID; Adaptive 2-DOF PID controller; Embedded controller; Robot manipulator | ||
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