Flexible Manipulator Modified Proportional-Integral-Derivative (MPID) Control Gain Tuning Using Fuzzy Logic

摘要

This paper studies the use of fuzzy logic as a tuning tool for the gain in Modified Proportional-Integral-Derivative (MPID) control used to control a flexible manipulator. The vibration control gain in the MPID controller has been determined in an empirical way so far. It is a considerable time-consuming process because the vibration control performance depends not only on the vibration control gain but also on the other parameters such as the payload, references and PD joint servo gains. Hence, the vibration control gain must be tuned considering the other parameters. In order to find the optimal vibration control gain for the MPID controller, a fuzzy logic approach is proposed in this paper. The proposed fuzzy logic scheme finds an optimum vibration control gain that minimizes the tip vibration for the end effector of the flexible manipulator. Tuned gain response results are compared to results for other types of gains. The effectiveness of using the fuzzy logic appears in the reduction of the computational time and the ability to tune the gain with different loading condition and input parameters.