Linguistic PID controllers for robot arms

Abstract

A fuzzy PID controller is proposed replacing the widely-used classical PID controllers assembled at all joints of a robot arm. The fuzzy PID control algorithm is outlined using fuzzy set theory. The design techniques are developed based on the linguistic phase plane approach. The heuristic rules of synthesis are summarized into a rule-based expert system to provide an off-line CAD environment. Also, a numerical example is included.< >