INTELLIGENT CONTROL OF ROBOTIC SYSTEM

Abstract

The problem of manipulator control is highly complex problem of controlling a system which is multi-input, multi-output, and non-linear and time variant. A number of different approaches presently followed for the control of manipulator vary from PI, PID And Fuzzy Logic Controller to very complex, intelligent, self-learning control algorithms. This report presents a comparative study of simulated performance of some conventional controllers like the simple PI, PID controllers And Fuzzy Logic control,. IAE is used for comparison as performance index. The study concludes that the PID controller in general performs better then PI controllers. When the unmodeled term is added to the model, PID and PI control perform badly. Computed torque control also affected but they do well. A Fuzzy Logic controller combines the advantage of PI And PID to achieve the goal of robot control Arm, performs better in PI And PID controllers and also shows that Fuzzy Logic controller are better even when unmodeled terms are added to the model.