PD with fuzzy compensator control of robot manipulators: Experimental study

Abstract

Motion control systems play an important role in industrial engineering applications. Until know, Proportional-Derivative (PD) controllers are still the most popular controller used in industrial control systems due to their simplicity and also satisfactory performances. However, since the PD controller is developed based on the linear control theory, the controller gives inconsistent performance for different condition. In order to overcome this problem, PD with Fuzzy compensator control is proposed for trajectory tracking problems of robotic manipulators. The effectiveness of the proposed method is evaluated experimentally in real time using an experimental two degrees-of-freedom robot manipulator. It is confirmed that the proposed system is better than classical PD controller in terms of tracking performance.