TUNING THE PID CONTROLLER BY FUZZY INFERENCE SYSTEM APPLIED TO 3-DOF DELTA ROBOT

Abstract

Three degrees of freedom (3DoF) Delta robot is a parallel robot that has a fairly wide range of uses in industries like 3D printing, welding robots, etc… The robot has attracted many researchers to develop control methods for tracking its trajectories, in which PID controller is a suitable choice for controlling the Delta robot because of its low design and experimental costs. However, arm parameters such as weight, joints, and friction can change and affect to the operation of the whole system, where the fixed-PID controller may be no longer maintaining traction control. Therefore, this paper presents the analysis, comparison, and evaluation of a fuzzy self-tuning algorithm for the classical PID controller to get better performance of the closed-loop control system. Simulation results in MATLAB/Simulink demonstrate the effectiveness of the control algorithm with a settling time of 0.658 (s) and an overshoot of about 3.75%.