DESIGN ADAPTIVE FRACTIONAL ODER PID CONTROLLER USING FUZZY LOGIC FOR ROBOT MANIPULATOR

Abstract

This paper presents an Adaptive Fractional Oder PID controller based on Fuzzy Logic (AFOF) for robot manipulators to improve accuracy of the tracking control. Robots are nonlinear system with uncertain model, and in the working process, they are always affected by noise. The proposed controller is combined with the advantages of adaptive fuzzy logic and sliding mode control to control system effect fast, and accurately. Furthermore, the quality of the control system is better controlled by combining the flexibility of Factional Oder PID. The adaptive laws are designed based on selecting a suitable Lyapunov function to the control system obtain the global stability. In addition, the stability and robustness as well as the the prerformance of the proposed controller are proved through simulation results on two link robot manipulators