A Novel Robotic Motion Control Strategy Based on Improved Fuzzy PID and Feedforward Compensation

Abstract:

Aiming at the difficulties to establish dynamic models of industrial robots, a novel fuzzy PID controller based on product strategy was presented. Membership degrees was determined according to position error and error change. Meanwhile, parameters of the fuzzy-PID controller would be tuned by the varied factors calculated from the membership degrees based on product strategy. Considering disturbance of friction, feedforward based on Stribeck model was introduced. Compared with traditional PID controller, experiment of manipulator demonstrates better effectiveness and robustness of the controller. The new controller keeps tracking error within 0.4%.

• Periodical: Applied Mechanics and Materials (Volumes 365-366)
• Pages: 821-826
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.365-366.821
• Online since: August 2013
• Authors: Xing Lai Jin, Shi Qiang Zhu, Wen Xiang Wu, Shao Cheng Luo
• Keywords: Fuzzy-PID Controller, Product Strategy, Stribeck Model

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