Fuzzy logic control experiments on a single-link manipulator

The results obtained from a series of test-runs performed on a single-link manipulator arm using two different types of control strategies, namely, fuzzy logic control and conventional control (e.g. PID) are presented in this paper. These are used to examine the advantages and disadvantages of using both types of control methods as applied to a single-link manipulator arm under different load conditions and input signals. The manipulator arm has been implemented using off-the-shelf industrial components. Identification methods were applied to determine the system model which is used to simulate the performance of the system and to tune the controller parameters. Emphasis is made on the method used to implement the fuzzy logic controller and on the analysis of the test-runs results. Comparisons of the advantages and disadvantages of using both controllers under different conditions are included. The ensemble has been used to introduce undergraduate control engineering students to the application of fuzzy logic-based control on a system with which they are familiar