Fuzzy PID-Based Trajectory Control for a 5-DoF Robot with Disturbance Compensation and Simscape Integration

Tóm tắt

This paper presents a study on the trajectory tracking control of a 5-DoF robot using a Fuzzy PID controller. The robot’s kinematic and dynamic models were developed, with specifications detailed for its components, including dimensions, weight, and joint angles. A Fuzzy PID controller was implemented to dynamically adjust control parameters based on error feedback and its derivative. The simulations demonstrated the controller’s efficacy in minimizing angular and positional errors, achieving high accuracy and stability. The system’s robustness was further evaluated under disturbance conditions, showcasing the controller’s effectiveness in maintaining trajectory accuracy. Additionally, simulations were performed in Simscape to simulate the physical environment of the robot. The results indicate that the proposed Fuzzy PID controller significantly enhances the robot’s capability to follow desired trajectories, ensuring reliable and precise operation in various environments.