Experiment Study of a Mechanical Manipulator under uncertainty by Hybrid Fuzzy P+ID Controllers
不确定性操作臂的混合模糊P+ID控制的实验研究

This paper presents a hybrid control scheme for the mechanical manipulator, which consists of a fuzzy logic proportional controller and a conventional integral and derivative one (Fuzzy P ID). In comparison with the PID controller, only one additional parameter should be adjusted to tune the Fuzzy P ID controller. The proposed control scheme is implemented to control a two link manipulator EDDA under geometrical parameters' changes. The experimental results on both of tracking and step control demonstrate the effectiveness and the robustness of the Fuzzy P ID controller.