Analyzing stability and structural aspects of embedded fuzzy type 2 PID controller for robot manipulators

Abstract

This study delves into the development and analysis of a novel Embedded Fuzzy Type 2 PID Controller for Robot Manipulators, motivated by the increasing need for enhanced control systems in robotic applications to improve precision and stability. In the background section, the limitations of conventional PID controllers in addressing uncertainties and disturbances, especially in complex tasks performed by robot manipulators, are presented. The concept of fuzzy logic and the Type 2 fuzzy system is introduced, highlighting their potential to manage imprecise and uncertain information. Through rigorous analysis and simulation, the superior performance of the Embedded Fuzzy Type 2 PID Controller is demonstrated when compared to traditional PID controllers and even Type 1 fuzzy controllers. The results showcase enhanced tracking accuracy, disturbance rejection, and adaptability, making it a promising solution for advanced robotic applications. In conclusion, this research provides a robust solution for improving the control of robot manipulators in uncertain and dynamic environments. The Embedded Fuzzy Type 2 PID Controller offers a new paradigm in control theory, ensuring stability and precision even in the face of unpredictable factors. This innovation holds great promise for advancing the capabilities of robotic systems and underlines the potential for further research in embedded fuzzy control systems.