Comparative analysis of a novel robust Fuzzy control algorithm, MPC and PID controllers for an uncertain two-link planar manipulator robot with external disturbances

Abstract

This paper presents a novel robust Fuzzy controller for a planar manipulator robot. Also, the Model Predictive Control (MPC) and PID techniques are used to compare the results with the proposed method. The control system of the manipulator robots must have some special features that guarantee stability, fast tracking, practicability of the control signals, smooth control, etc. A comparative analysis can provide a clearer picture of the control system’s performance. This study presents a comparative analysis between a novel robust Fuzzy technique, MPC and PID controllers for a two-link planar manipulator robot. Simulink/MATLAB is used for simulations of the controllers. The results show that the proposed robust Fuzzy method performs better and is more robust than other methods. The Integral of the Absolute value of the Error (IAE) and Integral of the Time Absolute value of the Error (ITAE) performance indexes are employed for a better and more logical comparison. Moreover, the control methods are compared with the essential control features such as accuracy, fast-tracking, robustness, etc. And in all the features, the proposed Fuzzy method is better than others.