Optimization of PID Controller with Supervisory Fuzzy Control for Industrial Robots

محورهای موضوعی : journal of Artificial Intelligence in Electrical Engineering

Masoud Solouki ¹ , Mehran Ansarin ² , Maryam Torabi ³ , Abbas Nematia ⁴ , Yeganeh Bakhshizadeh ⁵

1 - Department of Electrical Engineering, Tabriz Branch, Islamic Azad University, Tabriz, Iran
2 - Department of Electrical Engineering, Tabriz Branch, Islamic Azad University, Tabriz, Iran
3 - Department of Electrical Engineering, Tabriz Branch, Islamic Azad University, Tabriz, Iran
4 - Department of Electrical Engineering, Miyaneh Branch, Islamic Azad University, Miyaneh, Iran
5 - Department of Electrical Engineering, Miyaneh Branch, Islamic Azad University, Miyaneh, Iran

تاریخ دریافت : 1397/09/24 تاریخ پذیرش : 1397/09/24 تاریخ انتشار : 1397/12/10

کلید واژه: PID fuzzy control, supervisory, 5 DOF robot, manipulators,

چکیده مقاله :

It is difficult to control the movement of the robot arm due to its nonlinear structure. PID controller is still in the world because of its simplicity in designing this controller as the main controller. The nonlinear control technique is very complicated, and this is not very interesting in the controller. While fuzzy control has a better performance, it incorporates a fuzzy control with the PID controller to use the PID fuzzy control system to monitor the robot arm system with 5 DOF. This online control proposal is provided to get the best performance, which is possible with fuzzy supervisory control according to the simulation results in MATLAB.