Fuzzy Based Control of Two Link Robotic Manipulator and Comparative Analysis

Abstract

This paper presents the design and implementation of fuzzy based controller for the general form of two-link planar robotic manipulator. Also for comparative analysis, the conventional controllers, proportional-derivative (PD), proportional-integral-derivative (PID) and computed torque control are implemented on the same system under same conditions. The comparative analysis of the results demonstrates that the fuzzy logic controller is best among all the controllers and the simulation results confirm that the system can track the desired trajectory. Computer simulation results on a two-link planar robotic manipulator are presented to show tracking capability and effectiveness of the proposed control schemes. The simulations have been carried out using Matlab.