Fuzzy gain scheduling saturated PID controller: Design and implementation on robot manipulator

In this research a saturated PID controller with a fuzzy gain tuner is developed as a nonlinear control strategy, experimentally, for the precise trajectory tracking of industrial SCARA IBM 7547 robot. Designing, construction and implementation of electrical and controlling parts of this robot have been performed by the author team. Saturated PID controller gains are tuned online with the use of Fuzzy rules based on error signals and its changes. One of the advantages of the proposed controller is that it isn't based on the model parameters as well as employing a generalized saturation function in the control law formulation, which results in avoiding of actuator's saturation. Consequently, better transient and steady state responses are obtained. Experimental results demonstrate the efficiency of the proposed control system.