Design a Robust Intelligent Controller for Rigid Robotic Manipulator System having Two Links and Payloads
Aditi Saxena, Jitendra Kumar, Vinay Kumar Deolia
Abstract
Robotic manipulator are the devices that are used to manipulate articles that are located in inaccessible locations it is a difficult task for control engineers to control rigid robotic manipulator having nonlinearities and complexity. A PID controller alone is not sufficient to provide effective control to the system. In this paper a fuzzy PID controller is used to control a non-linear rigid two link robotic manipulator system. The controller is being tuned with the help of Genetic Algorithm and we are using IAE (integral absolute error) as an objective function and observed that optimized FUZZY PID has the least value of error as compared to FUZZY PI, FUZZY PD and PID controller. Fuzzy logic controller can easily handle uncertainties because of its properties of having fast rise time and low overshoot.this controller can perform well for trajectory tracking, Suppression of noise and also it has an important application in controlling of robotic manipulators for various fields.