Embedded Adaptive 2-DOF PID Controller for Robot Manipulator using a Supervisory Fuzzy Logic System
Mohammed, A., El-Nagar, A., Elsheikh, E., El-Bardini, M. (2022). Embedded Adaptive 2-DOF PID Controller for Robot Manipulator using a Supervisory Fuzzy Logic System. EKB Journal Management System, 31(1), 55-62. doi: 10.21608/mjeer.2022.218822
Atef Abdrabou Mohammed; Ahmed M. El-Nagar; Emad A. Elsheikh; Mohammad El-Bardini. "Embedded Adaptive 2-DOF PID Controller for Robot Manipulator using a Supervisory Fuzzy Logic System". EKB Journal Management System, 31, 1, 2022, 55-62. doi: 10.21608/mjeer.2022.218822
Mohammed, A., El-Nagar, A., Elsheikh, E., El-Bardini, M. (2022). 'Embedded Adaptive 2-DOF PID Controller for Robot Manipulator using a Supervisory Fuzzy Logic System', EKB Journal Management System, 31(1), pp. 55-62. doi: 10.21608/mjeer.2022.218822
Mohammed, A., El-Nagar, A., Elsheikh, E., El-Bardini, M. Embedded Adaptive 2-DOF PID Controller for Robot Manipulator using a Supervisory Fuzzy Logic System. EKB Journal Management System, 2022; 31(1): 55-62. doi: 10.21608/mjeer.2022.218822

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, Page 55-62  XML PDF (1.76 MB)
Document Type: Original Article
DOI: 10.21608/mjeer.2022.218822
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Authors
Atef Abdrabou Mohammed email 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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