Design of an enhanced hybrid fuzzy P+ID controller for a mechanical manipulator

Author

Li, W. ; Chang, X.G. ; Farrell, Jay ; Wahl, F.M.

Author_Institution

Dept. of Comput. Sci., California State Univ., Bakersfield, CA, USA

Volume

31

Issue

6

fYear

2001

fDate

12/1/2001 12:00:00 AM

Firstpage

938

Lastpage

945

Abstract

We propose in this paper an enhanced fuzzy P+ID controller to improve control performance in both dynamic transient and steady-state periods for mechanical manipulators under uncertainty. The fuzzy P+ID controller adds only two additional parameters to be tuned relative to the original PID controller. One of these parameters is mainly used to reduce a steady-state error. The other is used to speed up the dynamic response. A simulation study and experimental results for a two-link manipulator with uncertainty demonstrate the superior control performance of the proposed fuzzy P+ID controllers

Keywords

control system synthesis; fuzzy control; manipulators; three-term control; dynamic response; dynamic transient periods; enhanced hybrid fuzzy P+ID controller design; mechanical manipulator; simulation study; steady-state error reduction; steady-state periods; two-link manipulator; uncertainty; Control systems; Fuzzy control; Fuzzy logic; Fuzzy systems; Manipulator dynamics; Mechanical variables control; Stability analysis; Steady-state; Three-term control; Uncertainty;

fLanguage

English

Journal_Title

Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on

Publisher

ieee

ISSN

1083-4419

Type

jour

DOI

10.1109/3477.969497

Filename

969497