Oral Presentation , Page 159-164 (6)

Volume Title: 2nd IEEE International Conference on Electronic Eng., Faculty of Electronic Eng., Menouf, Egypt, 3-4 July. 2021

¹Atef Abdrabou Mohammed; ²Ahmed M. El-Nagar ; ³Mohammad El-Bardini; ⁴Emad Elshaikh

¹Department of Industrial Electronics and Control Engineering, Faculty of Electronic Engineering, Menoufia University, Menof, Egypt

²Department of Industrial Electronics and Control Engineering, Faculty of Electronic Engineering, Menoufia University

³Department of Industrial Electronics and Control Engineering Faculty of Electronic Engineering, Menoufia University Menouf, 32952, Egypt

⁴Department of Industrial Electronics and Control Engineering, Faculty of Electronic Engineering, Menoufia University, Menof, Egypt.

The objective of this paper is to investigate and find a solution by designing a fuzzy proportional-derivative (PD) controller to overcome the uncertainties of a robot manipulator in real-time, like disturbances and other variations. The fuzzy logic controller plays a big rule especially in case of lack of quantitative data relating the input to output in industrial processes and other different fields. The suggested controller achieves robust trajectory tracking. Performance analysis of the PID, 2-DOF-PID, and fuzzy PD has been done simulatively by using Matlab and practically by using a microcontroller to prove that the proposed fuzzy PD controller has advantages of faster response, better stability, and less overshoot compared to other existing controllers, in addition to in the presence of uncertainties the performance of the proposed controller for trajectory tracking is robust.

Embedded controller; PID; 2-DOF PID; Robot manipulator