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<p>This study introduces a two-degree-of-freedom (2-DOF) fuzzy proportional-derivative (FPD) controller for controlling a robot manipulator practically. The suggested controller combines the advantages of a 2-DOF structure and the FPD structure to obtain an intelligent controller, which can reduce the system’s uncertainties. These uncertainties are unknown disturbances, variation, payload, and cross-coupling effects between joints. The analytical structure for the developed scheme is derived to show the relationship between the inputs and output of the controller. Moreover, the sufficient conditions for the bounded-input bounded-output (BIBO) stability of the proposed control system have been performed based on the well-known small gain theorem. The proposed 2-DOF FPD is designed experimentally using a microcontroller. The proposed controller's performance is compared with conventional PID, 2-DOF PID, and fuzzy PD controllers through simulations and practical experiments. The 2-DOF FPD controller achieved a 20–30% reduction in mean absolute error and root mean square error during trajectory tracking and disturbance rejection tasks. This significant improvement is attributed to the controller's ability to effectively handle nonlinearities and uncertainties in the system.</p>

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A class of embedded fuzzy PD controller for robot manipulator: analytical structures and stability analysis

  • 期刊论文

  • 发表日期：

    2025年5月26日

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  • Ahmad M. El-Nagar,
  • Atef Abdrabou,
  • Mohammad El-Bardini,
  • Emad A. Elsheikh

摘要

This study introduces a two-degree-of-freedom (2-DOF) fuzzy proportional-derivative (FPD) controller for controlling a robot manipulator practically. The suggested controller combines the advantages of a 2-DOF structure and the FPD structure to obtain an intelligent controller, which can reduce the system’s uncertainties. These uncertainties are unknown disturbances, variation, payload, and cross-coupling effects between joints. The analytical structure for the developed scheme is derived to show the relationship between the inputs and output of the controller. Moreover, the sufficient conditions for the bounded-input bounded-output (BIBO) stability of the proposed control system have been performed based on the well-known small gain theorem. The proposed 2-DOF FPD is designed experimentally using a microcontroller. The proposed controller's performance is compared with conventional PID, 2-DOF PID, and fuzzy PD controllers through simulations and practical experiments. The 2-DOF FPD controller achieved a 20–30% reduction in mean absolute error and root mean square error during trajectory tracking and disturbance rejection tasks. This significant improvement is attributed to the controller's ability to effectively handle nonlinearities and uncertainties in the system.