Systematic Design and Implementation of Decentralized Fuzzy-PD Controller for Robot Arm

Abstract

Robot Motion control represents a major problem when developing efficient robotic control system. Linear motion controllers such as PD or PID are widely used for most of applications because they have straightforward structures and tuning procedures. It was approved that Fuzzy controllers highly enhance the control system performance but they require a complex or not systematic tuning and implementation. This paper introduces a systematic approach for developing efficient Fuzzy-PD controller for 3DOF robot arm. This approach is based on mapping a linear PD controller structure into nonlinear Fuzzy-PD structure. The approach is based on the mapping formulas developed by Jantzen. The Fuzzy PD experimental evaluation shows a high minimization of the tracking error for various applied trajectories.