PERFORMANCE ANALYSIS OF PID, PD AND FUZZY CONTROLLERS FOR POSITION CONTROL OF 3-DOF ROBOT MANIPULATOR

Authors

  • U. Kabir Department of Computer Engineering, Hussaini Adamu Polytechnic, Kazaure
  • M. F. Hamza Department of Mechatronics Engineering, Bayero University, Kano
  • A. Haruna Department of Mechatronics Engineering, Bayero University, Kano
  • G. S. Shehu Department of Electrical Engineering, Ahmadu Bello University, Zaria

Keywords:

3-DOF robot manipulator, dynamic model, PID, PD, and FLC;

Abstract

Robot manipulators are extensively used in industrial applications because of their immense
importance such as in constructions automation. Therefore, designing controllers to suit the
intensive purpose of the application is one of the major challenges for control researchers.
This paper presents comparative analysis of three controllers on a 3-DOF robot
manipulator. The proportional integral derivative (PID), proportional derivative (PD) and
fuzzy logic (FL) controllers were designed and applied to each of the link of the robot by
simulation. The performance of each control method was assessed using the transient and
steady state response characteristics. Comparisons of the results obtained, PID and PD
performed better in terms of Rise Time and Settling Time while the FLC exhibited reduced
overshoot

Published

2019-06-27

Issue

Vol. 8 No. 1 (2019)

Section

Articles