Modeling and control of 5 DOF robot arm using supervisory control

Abstract

Robot manipulators are nonlinear systems, so it needs online tuning and monitoring during process control. Proportional integral derivative (PID) control and fuzzy logic control (FLC) are good controllers in industrial applications. Therefore it is a good idea to combine between the two controllers to form a fuzzy supervisory control (FSC) to overcome the limitation of PID control in nonlinear systems. This paper presents a fuzzy supervisory technique for PID controller. This technique seeks to tune the PID parameters online to improve the performance automatically. The simulation results show that the performance of fuzzy supervisory tuning is better than the performance of classical tuning methods for PID controller.