Design and Simulation of Robot

Manipulator Position Control System

Based on Adaptive Fuzzy PID Controller

F.Z. Baghli and L. El Bakkali

Abstract The problem of manipulator control is a highly complex problem of

controlling a system wich is multi-input multi-output, non linear and time variant.
In this paper we present a new approach for a robot manipulator with two degrees
of freedom based on the intelligent adaptive fuzzy PID, Parameters which guide the
functioning of Proportional Integral Derivative controller are dynamically adjusted
with the assistance of fuzzy control to ensure the position robot control strategy, the
proposed control scheme is based on nonlinear dynamic model derived using
Lagrange-Euler formulation. Our robot manipulator’s simulated in Matlab Simulink
environment, the results obtained present the efficiency and the robustness of the
proposed control with good performances compared with the classical PID.

Keywords Robot manipulator
Fuzzy logic
PID
Adaptive fuzzy PID

1 Introduction

Research on the dynamic modeling and control of the arms manipulators has
received increased attention since the last years due to their advantages, this system
is a mechanical system multi-articulated, in which each articulation is driven
individually by an electric actuator is the most robot used in industry, this system
need an efficient control strategy.
A robot manipulator is a high-speed process that is highly nonlinear, dynami-
cally coupled and often it is not adequate to use linear servo control, if accurate
performance in high bandwidth operations is desired. Many efforts have been made
in developing control scheme to achieve the precise tracking control of robot
manipulators [1–3].

F.Z. Baghli (&)
L. El Bakkali

Modeling and Simulation of Mechanical Systems Laboratory, Faculty of Sciences, University
Abdelmalek Essaadi, BP. 2121 M’hannech, 93002 Tetouan, Morocco
e-mail: [Link]@[Link]

© Springer International Publishing Switzerland 2016 243

S. Zeghloul et al. (eds.), Robotics and Mechatronics,
Mechanisms and Machine Science 37, DOI 10.1007/978-3-319-22368-1_24
244 F.Z. Baghli and L. El Bakkali

The traditional PID controller with simple structure and stable performance is
widely used. But it is difficult to meet the high precision and fast response,
moreover the parameters tuning of classical PID controller is so complex [4].
Therefore fuzzy algorithm is introduced. Fuzzy control is a particular type of
intelligent control, has a great potential since it is able to compensate for the
uncertain nonlinear dynamics using the programming capability of human control
behavior. The main features of fuzzy control is that a control knowledge base is
available within the controller and control actions are generated by applying
existing conditions or data to the knowledge base, making us of inference mech-
anism [2, 5]. Also, the knowledge base and inference mechanism can handle no
crisp, incomplete information; the knowledge itself will improve and evolve
through learning and past experience [2].
Fuzzy logic control does not require a conventional model of the process,
whereas most conventional techniques require either an analytical model or an
experimental model. Fuzzy logic control is particularly suitable for complex and
ill-defined process in which analytical modeling is difficult due to the fact that the
process is not completely known and experimental model identification is not
feasible because the required inputs and output of the process may not be mea-
surable [5].
In this work after the system modeling, simulation and control robot manipulator
using two articulations for motion using MatLab/Simulink software were carried,
when the proposed Adaptive Fuzzy PID controlled is used to improve the articu-
lation robot stability. Two types of control PID and Fuzzy PID were studied;
analysis and comparative studies were made.
The reminder paper was structured as follow: the robot modeling is presented in
second part of this paper, in the third part of this paper Intelligent Fuzzy PID is
detailed, the results discussion are presented in the last part of this paper and finally
conclusion was given.

2 Intelligent Fuzzy PID Controller

Fuzzy controllers have been widely applied to industrial process. Especially, fuzzy
controllers are effective techniques when either the mathematical model of the
system is nonlinear or not the mathematical model exists. In this paper, the fuzzy
control system adjusts the parameter of the PID control by the fuzzy rule.
Dependent on the state of the system. The adaptive PID realized is no more a linear
regulator according to this principle. In most of these studies, the Fuzzy controller
used to drive the PID is defined by the authors from a series of experiments [6–9].
The frame of the fuzzy adaptive PID controller is illustrated in Fig. 1.
Design and Simulation of Robot Manipulator … 245

e PIDi Arm
Controller Manipulator qi
qi* i (t)
K Pi K ii Kdi

Fuzzy
Controller

d e
dt AdaptiveController

Fig. 1 Arm manipulator robot Fuzzy PID control

2.1 Fuzzy Inference System

The fuzzy inference system has been considered the min-max method (Mamdani),
where the implication has been assumed to min and the aggregation has been
considered to max. In addition, the Defuzzification method has been considered to
the centroid method.

2.2 Input and Output Variables

The position control of the robot arm manipulator requires two fuzzy PID con-
trollers (fuzzy PID1 applied to the first joint and fuzzy PID2 applied to the second
joint). Where two inputs and three outputs have been considered for the fuzzy
PID1, same thing for fuzzy PID2. The two inputs are e (position error), de (velocity
error) for the first and second controller. The output variables are the proportional
gain Kpi , the integral gain Kii , the derivative gain Kdi (i = 1, 2).

2.3 Membership Function

In the proposed fuzzy PID control (1 or 2), a seven-term set {negative big (NB),
negative middle (NM), negative small (NS), zero (ZE), positive small (PS), positive
middle (PM) positive big (PB)} is applied to defining input and output linguistic
variable.
The system structure of Fuzzy PID controller are shown in Fig. 2.
The membership function for outputs variables illustrated in Fig. 3 where the
domain of gain Kpi , Kii , Kdi are set by {−0.3 −0.2 −0.1 0 0.1 0.2 0.3};{−0.06 −0.04
−0.02 0 0.06 0.04 0.02};{−3 −2 −1 0 1 2 3}.
246 F.Z. Baghli and L. El Bakkali

FuzzyPID (Arm) Kp (7)

e (7)
(mamdani)

49 rules Ki (7)

de (7)
Kd (7)
System FuzzyPID (Arm): 2 inputs, 3 outputs, 49 rules

Fig. 2 Structure of Fuzzy PID controller

(a)
Degree of membership

1NB NM NS ZO PS PM PB

0.8
0.6
0.4
0.2
0
-0.2 -0.1 0 0.1 0.2 0.3
Kp

(b)
1NB NM NS ZO PS PM PB
Degree of membership

0.8

0.6

0.4

0.2

-0.06 -0.04 -0.02 0 0.02 0.04 0.06

Ki
(c)
Degree of membership

1 NB NM NS ZO PS PM PB

0.8
0.6
0.4
0.2
0
-3 -2 -1 0 1 2 3
Kd

Fig. 3 The membership function for Kpi , Kii , Kdi

Design and Simulation of Robot Manipulator … 247

2.4 Fuzzy Rules-Base

Building fuzzy logic rule is the key step in the improvement of system performance,
which directly affects the quality control system. In this paper, fuzzy control rules
are designed with these tune principles as follows:
While error is large, control variable should try to reduce error.
While error is small, the stability of system should be considered, besides
eliminating the error (Tables 1, 2, 3 and 4).

Table 1 Effects of increasing a parameter independently

Parameter Rise time Overshoot Settling time Steady state error
Kpi " Decrease Increase Small change Decrease
Kii " Decrease Increase Increase Eliminate
Kdi " Minor change Decrease Decrease −

Table 2 The fuzzy rule base for Kpi

Kpi De
NB NM NS ZO PS PM PB
e NB PB PB PM PM PS ZO ZO
NM PB PB PM PS PS ZO ZO
NS PM PM PM PM ZO ZO NS
ZO PM PM PS ZO NS NS NM
PS PS PS ZO NS NS NM NM
PM PS ZO NS NM NM NM NB
PB ZO ZO NM NM NM NB NB

Table 3 The fuzzy rule base for Kii

Kii De
NB NM NS ZO PS PM PB
e NB NB NB NM NM NS ZO ZO
NM NB NB NM NS NS ZO ZO
NS NB NM NS NS ZO PS PS
ZO NM NM NS ZO PS PM PM
PS NM NS ZO PS PS PM PB
PM ZO ZO PS PS PM PB PB
PB ZO ZO PS PM PM PB PB
248 F.Z. Baghli and L. El Bakkali

Table 4 The fuzzy rule base for Kdi

Kdi De
NB NM NS ZO PS PM PB
e NB PS NS NB NB NB NM PS
NM PS NS NB NB NB NM PS
NS ZO NS NM NM NS NS ZO
ZO ZO NS NS NS NS NS ZO
PS ZO ZO ZO ZO ZO ZO ZO
PM PB NS PS PS PS PS PB
PB PB PM PM PM PS PS PB

These tune principles we permit to create the fuzzy rule-base for Kpi , Kii , Kdi , These
rules can be written in the format of IF-THEN as follows (there are total 49 rules):
1. If (e is NB) and (de is NB), then (Kpi is PB) (Kii is NB) Kdi (is PS);
2. ………
49. If (e is PB) and (de is PB), then (Kpi in NB) (Kii is PB) (Kdi is PB).

3 Simulation

SISO control based on classical PID model and intelligent control based on
Fuzzy PID model were tested to sinus response trajectory. This simulation applied
to two degrees of freedom robot arm was implemented in Matlab/Simulink. Position
error are compared in these controllers.
Figures (4, 5, 6, and 7) are shown error performance, by comparing position
error for the first and second link. The FLC PID Control ensure the robot manip-
ulator’s stability by maintaining the error position equal to zero (e1 ¼ e2 ¼ 0) so
PID (i)’s error position is respectively higher than FLC PID (i) where (i = 1, 2).

Fig. 4 PID 1 for the first link PID 1- Position error of joint 1
position error 2

1.5
Position 1 error [rad]

0.5

-0.5

-1
0 1 2 3 4 5 6 7 8 9 10
Time [sec]
Design and Simulation of Robot Manipulator … 249

Fig. 5 FLC PID 1 for the first Fuzzy PID 1: Position error of joint 1
link position error 2

1.5

Position 1 error[ rad]

1

0.5

Time [sec]
-0.5
0 1 2 3 4 5 6 7 8 9 10

Fig. 6 PID 2 for the second PID2- Position error of joint 2

link position error 0.4

0.2
Position 2 error [rad]

-0.2

-0.4

-0.6
0 1 2 3 4 5 6 7 8 9 10
Time [sec]

Fig. 7 FLC PID 2 for the first Fuzzy PID2: Position error of joint 2
link position error 0.1

0
Position 2 error [rad]

-0.1

-0.2

-0.3

-0.4

-0.5

-0.6
0 1 2 3 4 5 6 7 8 9 10
Time [sec]
250 F.Z. Baghli and L. El Bakkali

4 Conclusion

In this present work an arm manipulator robot using two degree of freedom was
controlled using two types of controls strategies, SISO control based on classical
PID model and intelligent adaptive Fuzzy PID, this last one present maximum
control structure of our control model and give more and more efficiency for the
robot model with more position stability and good dynamical performances with no
overshoot so industrials would take into account the efficiency of the developing
control model for the futures two freedom robot design considerations.

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