Comparison of PID and fuzzy logic to control the motions of robotic prosthetic limbs

摘要

Abstract Prosthetic limbs are one of the tools that can be used for people with lower limb disabilities. The bionic leg is one of the breakthroughs in which its movements can be regulated by the implementation of a control system on the microcontroller. Testing is done by interfacing with Matlab / Simulink on the prototype using the PID control system and the Fuzzy Logic control system with a time of 10s at a reference angle of 90°. The PID control system design is done by auto-tuning to get the required parameters, kp, ki, and kd while the Fuzzy Logic control system by determining the input and output parameters and its rules. The PID parameters obtained were 2 KP, 18 KI, and 0.5 KD while the Fuzzy Logic is the reference signal input and voltage of the DC motor as the output. The motion data obtained from the transient response is the maximum overshoot, percentage error, and settling time from both of the control systems, as for the PID 6.90%, 3.69%, and 0.877s respectively and 3.31%, 3.46%, and 0.610s respectively for the Fuzzy Logic control system. The prototype performance with the Fuzzy Logic control system is better than using the PID control system.