Performance Improvement of a Space Robotic Manipulator Using Fuzzy-Based PID Controller

Abstract

Without a doubt, the development of the robot manipulator has gained significant attention due to its several uses in a wide range of industries. However, it is a nonlinear multi-input multi-output (MIMO) dynamic system. This paper presents performance enhancement for a space robot manipulator subjected to external disturbance using an intelligent fuzzy logic-based PID (FL+PID) control system. The proposed controller was designed using fuzzy logic to provide automatic adjustment of the PID controllers’ parameters. A comparative analysis of the system performance was conducted based on a comparison between the suggested fuzzy logic-based PID control scheme and the conventional proportional integral derivative (PID) controller. In comparison to the standard PID controller, the findings demonstrate that the suggested scheme provides a stable response and consistent performance. According to integral square error (ISE), findings indicate that the suggested controller is effective in improving performance for links 1 and 2 by 82.83% and 65.57%, respectively, in contrast to the PID controller.