Design and Simulation of Fuzzy Self-Tuning PID Controller for Two-Link Robot
In this paper, fuzzy self-tuning controller is introduced first. The fuzzy model is built according to the experience of PID parameter tuning with fuzzy set theory. Parameter tuning is achieved by use of fuzzy ratiocination and decision according to actual response, which is applied for control towards robot. Mathematical model of two-link robot has been built as well as its geometric and dynamical equations through coordinate transformation and matrix operation. Finally, fuzzy PD controller with self-tuning method is applied to realize control towards robots. Simulation in Matlab has been carried out whose result shows that the control method proposed in this paper has better performance than the traditional ones.
J. H. Jiang et al., "Design and Simulation of Fuzzy Self-Tuning PID Controller for Two-Link Robot", Applied Mechanics and Materials, Vols. 152-154, pp. 1133-1137, 2012