Design and simulation of robot manipulator position control system based on adaptive fuzzy PID controller

Abstract

The problem of manipulator control is a highly complex problem of controlling a system wich is multi-input multi-output, non linear and time variant. In this paper we present a new approach for a robot manipulator with two degrees of freedom based on the intelligent adaptive fuzzy PID, Parameters which guide the functioning of Proportional Integral Derivative controller are dynamically adjusted with the assistance of fuzzy control to ensure the position robot control strategy, the proposed control scheme is based on nonlinear dynamic model derived using Lagrange-Euler formulation. Our robot manipulator’s simulated in Matlab Simulink environment, the results obtained present the efficiency and the robustness of the proposed control with good performances compared with the classical PID.