Application of fuzzy logic control to a manipulator

The authors describe a control strategy for robotic manipulators that incorporates a proportional-plus-integral (PI) controller with a simple fuzzy logic (FL) controller. In the proposed strategy, the PI controller is used to ensure fast transient response and zero steady-state error for step inputs, or end-point control, whereas the FL controller is used to enhance the damping characteristics of the overall system. The main advantage of the proposed control energy is that only the current and previous measurements and a set of simple control rules are required; as such, it can be readily implemented. The proposed FL controller is described, and its effectiveness is demonstrated through simulations involving the control of a two-arm two-link manipulator