Performance Analysis of PID, PD and Fuzzy Controllers for Position Control of 3-Dof Robot Manipulator

TL;DR

This paper compares PID, PD, and fuzzy controllers for a 3-DOF robot manipulator, analyzing their transient and steady-state performance through simulation to determine their effectiveness.

Contribution

It provides a comparative simulation analysis of PID, PD, and fuzzy controllers for 3-DOF robot manipulators, highlighting their performance differences.

Findings

PID and PD controllers had better rise and settling times.

Fuzzy controller showed reduced overshoot.

Simulation results guide controller selection for robot manipulators.

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