Extended PD+I fuzzy logic controllers with self-tuning capability

In this paper, we propose two controllers which extend the original PD+I fuzzy logic controller to treat the plant with time varying nonlinear dynamics. The adaptation ability of the first self tuning PD+I fuzzy logic controller (STPD+I_31) is obtained by adjusting the output scaling factor automatically thereby contributing to significant improvement in performance. Second proposed controller (STPD+I_9) is the simplified version of STPD+I_31 which is designed under the imposed constraint that allows only minimum number of rules in the rule bases. The proposed controllers are compared with two classical nonlinear controllers: the pole placement self tuning PID controller and sliding mode controller. All the controllers are applied to the two-links revolute robot for the tracking control. The tracking performance of STPD+I_31 and STPD+I_9 are much better than the pole placement self tuning PID controller during high speed operations while the performance are comparable at low and medium speed. In addition, STPD+I_31 and STPD+I_9 outperform sliding mode controller under same method of comparison study.