{"title":"Design and implementation of PI and fuzzy PID supervisory controllers for a flexible link robot","authors":"Mahshid Pourebrahim, M. Ayati, M. Mahjoob","doi":"10.1109/CCSSE.2016.7784396","DOIUrl":null,"url":null,"abstract":"In this paper, PID controllers are designed to enhance the trajectory tracking performance of a flexible link robot. Firstly, a PI controller is used where conventional Ziegler-Nichols method adjusts the controller parameters. In addition, Fuzzy PID controller is designed in which fuzzy rules are utilized on-line to tune the PID controller parameters based on the current value of error and its first time-derivative. Also, effects of several defuzzification methods on the closed-loop system are investigated in this paper. A flexible link robot is implemented and controllers are applied. Experimental results confirm the performance of the fuzzy PID controller.","PeriodicalId":136809,"journal":{"name":"2016 2nd International Conference on Control Science and Systems Engineering (ICCSSE)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2016-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 2nd International Conference on Control Science and Systems Engineering (ICCSSE)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CCSSE.2016.7784396","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 4
Abstract
In this paper, PID controllers are designed to enhance the trajectory tracking performance of a flexible link robot. Firstly, a PI controller is used where conventional Ziegler-Nichols method adjusts the controller parameters. In addition, Fuzzy PID controller is designed in which fuzzy rules are utilized on-line to tune the PID controller parameters based on the current value of error and its first time-derivative. Also, effects of several defuzzification methods on the closed-loop system are investigated in this paper. A flexible link robot is implemented and controllers are applied. Experimental results confirm the performance of the fuzzy PID controller.
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