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Abstract-We propose in this paper an enhanced FUZZY P+ID controller to improve control performance in both dynamic transient and steady-state periods for mechanical manipulators under uncertainty. The FUZZY P+ID controller adds only two additional parameters to be tuned relative to the original PID controller. One of these parameters is mainly used to reduce a steady-state error. The other is used to speed up the dynamic response. A simulation study and experimental results for a two-link manipulator with uncertainty demonstrate the superior control performance of the proposed FUZZY P+ID controllers.

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