Open AccessDesign of gain scheduled fuzzy PID controller for multi-link robot manipulators
Author(s) -
M. M. Emarah
Publication year - 2020
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/973/1/012042
Subject(s) - gain scheduling , pid controller , control theory (sociology) , matlab , computer science , fuzzy logic , control engineering , robot , scheduling (production processes) , controller (irrigation) , nonlinear system , engineering , control (management) , temperature control , artificial intelligence , agronomy , operations management , biology , operating system , physics , quantum mechanics
Gain Scheduling (GS) controller is one of the most popular approaches to nonlinear control design. Commonly, Gain Scheduling (GS) controllers have better performance than robust ones. In this paper, the structure of a proposed gain scheduled PID fuzzy controller (GS-PIDF) designed and analyzed. The Fuzzy PID controller gains weighted through gain scheduling designed system to grantee both the stability and the best performance of a multi links robot manipulator system. The overall designed controller system is applied to two links robot manipulator system, which is subject to modelling using Lagrangian dynamics method and simulation vie MatLab and Simulink package to minimize the vibration and acquire best performance.