Author/Authors :
Solouk, Masoud Department of Electrical Engineering - Islamic Azad University, Tabriz, Iran , Ansarin, Mehran Department of Electrical Engineering - Islamic Azad University, Tabriz, Iran , Torabi, Maryam Department of Electrical Engineering - Islamic Azad University, Tabriz, Iran , Nematia, Abbas Department of Electrical Engineering - Islamic Azad University, Miyaneh, Iran , Bakhshizadeh, Yeganeh Department of Electrical Engineering - Islamic Azad University, Miyaneh, Iran
Abstract :
It is difficult to control the movement of the robot arm due to its nonlinear structure. PID controller is still in the world because of its simplicity in designing this controller as the main controller. The nonlinear control technique is very complicated, and this is not very interesting in the controller. While fuzzy control has a better performance, it incorporates a fuzzy control with the PID controller to use the PID fuzzy control system to monitor the robot arm system with 5 DOF. This online control proposal is provided to get the best performance, which is possible with fuzzy supervisory control according to the simulation results in MATLAB.
Keywords :
PID fuzzy control , supervisory , 5 DOF robot , manipulators
