Integration of Adaptive PID and Fuzzy Logic Controller for Improved Precision and Stability in Robotic Arms

摘要

This paper introduces the integration of adaptive PID and fuzzy logic controllers to improve precision and stability in robotic arms. The proposed approach optimizes the strengths of both control techniques to improve overall system performance. PID controllers offer robust control and stability, particularly for linear and time-invariant systems, while fuzzy logic controllers provide adaptive control in the presence of nonlinear systems and uncertainties. Combining both controllers improves system response, characterized by minimized overshoot, reduced steady-state errors, and faster settling times. Comparative analysis of simulation and experimental results demonstrates that the combined PID and fuzzy logic controller outperforms individual controllers in transient and steady-state performance, indicating its suitability for advanced robotic arm applications.