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Based on the dynamic nonlinearities of robot manipulators, a fuzzy immune PD-type control algorithm is proposed for robot trajectory tracking. The algorithm combines fuzzy control, immune feedback mechanism of organism with conventional PID control. In the algorithm, the suppression number of suppression cells is described by a nonlinear function, which is approximated by a 2D fuzzy controller. The given algorithm can overcome the influence of modeling error and parameter varying when robot dynamic model parameters change from 10% to 190% randomly. Simulation and experimental results of 2DOF robot manipulator show that the control scheme has better tracking precision, stronger robustness and superior control performance to conventional PD controller.