An adaptive fuzzy approach for robot motion control

This paper develops a self-tuned proportional-integral-derivative (PID)-type fuzzy controller for the robot motion control. In order to improve further the performance of the transient state and the steady state of the PID controller, we try to develop a self-tuned fuzzy controller with small incremental complexity over conventional fuzzy controllers, which can autotune the PID type fuzzy controller parameters on line. The proposed controller is successfully applied in simulation to control two-link robot manipulators, which shows a satisfactory performance in the transient and steady state response