| Development of Intelligent Controller for Robotic Systems |
| Paper ID : 1086-ICEEM2025 (R1) |
| Authors |
|
Ahmad M. Abbas *1, Sameh Abd El-Haleem2 1Faculty of Electronic Engineering, Menoufia University, Egypt 2Faculty of Electronic Engineering, Menoufia University |
| Abstract |
| This paper proposes a cascaded control architecture combining an intuitionistic fuzzy logic controller (IFLC) with a proportional–derivative controller featuring online gravity compensation (PD+G) for robotic manipulators. The IFLC layer employs both membership and non-membership degrees to approximate unknown dynamics and uncertainties, while the PD+G layer ensures exact trajectory tracking and robust disturbance rejection by compensating variable gravitational torques in real time. The global asymptotic stability via Lyapunov’s direct method is proved under bounded approximation and disturbance errors. To validate the performance of the system, the simulations on a 2-DOF SCARA robot compare the proposed intuitionistic fuzzy proportional–derivative gravity compensation (IFPDG) controller against standalone PD+G and IF+G schemes under sinusoidal tracking, step-change regulation, external angle disturbances, and finite-time payload variations. The simulation results have shown that the IFPDG achieves the smallest error across all scenarios, fastest disturbance recovery, and zero steady-state error. Although the validation of the proposed technique is based on MATLAB simulations, the controller can be directly implemented on industrial hardware (e.g., pick-and-place SCARA arms) by offering precise control under changing loads. |
| Keywords |
| Cascaded control, intuitionistic fuzzy controller, online gravity compensation, motion control, stability analysis, robotic system. |
| Status: Accepted |