Design of NPID controller for nonlinear trajectory tracking of robotic 3D printer system manipulator

摘要

Model-based controllers must be created by modelling the system to be controlled. This is because, regardless of how well-tuned the controller's settings are based on this model, good control performance cannot be predicted without first picking the suitable model for the process. The vast majority of industrial processes are overdamped, time-delayed steady-state systems. Designing a non-linear controller has always been difficult for researchers and control professionals. The robotic manipulators have numerous inputs and outputs. A Nonlinear PID Controller has been designed in this paper. This controller combines the Proportional Integral and Derivative controllers, as well as a nonlinear factor that multiplies with the integral controller. After Simulink modelling the controller, it was discovered that its performance is superior to that of other current controllers, and that its application is ubiquitous.