Hybrid Connection of PID and Fuzzy Controller for Flexible Joint Robot with Uncertainties

الملخص

The performance of robotic system with PID controller that parameters are obtained by the different tuning methods will be improved in this paper by adding a simple fuzzy controller (FC) to the PID controller, so that this hybrid PID-FC connection can be used for controlling the robotic system under different uncertainties like variable load and external disturbance with very high specification response. The suggested method is simple and not need huge computations. A single link flexible joint robotic system with uncertainties (variable load, external disturbance) is controlled by this method and by the different PID controllers (pole placement PID, pole-zero cancelation, and robust PID method) to show the efficient improvement for the suggested method on the specifications of system response, the flexible joint robotic system is tested by two types of desired inputs (nonlinear trajectory, and mixed linear trajectory).