Fuzzy Tuned PID Controller for Vibration Control of Agricultural Manipulator

Image-based phenotyping systems have evolved over the years, and become an integral part of crop and plant science research. Phenotyping systems provide great potential to deliver critical insights, than the conventional destructive field m ethods. S table i mage a cquisition a nd p rocessing i s very important to accurately determine the characteristics in general, which further becomes very challenging and non-trivial when mounted over an motor mechanised arm. To address the near associated problems, we investigate on the possibility of applying the Proportional-Integral-Derivative (PID) control algorithm to the present manual setup with an aim to reduce vibration. This study focused towards investigating the active control and stabilization of the external camera shake, that may be induced by the driving motor. Nonetheless, very few researchers have focused on application of control algorithms for agriculture related practices. We validate the active control, and justify the need for the same.Type-2 fuzzy logic is combined with the PID control for better effectiveness. The non-linearity associated with the system is compensated by the type-2 fuzzy logic. The results shows that the active control has been achieved, and the vibration is minimized.