Fuzzy self-adaptive PID control strategy for a 2DOF arm power assistant system

Arm power assistant system is a typical Man-machine integration system. Whether it has the ability of power assist eventually depends on whether its control system can make fast and accurate response to the information, which is collected by the perceptual system. Therefore, a fuzzy self-adaptive PID control, which combines the fuzzy theory and PID control theory organically, has been applied to the arm power assistant system. Because the new strategy has the ability of real-timely and on line adjusting PID control parameters, it meets the requirements of the complicated controlling process better. Through the simulation analysis in the Simulink, we know fuzzy self-adaptive PID controller is much better than the traditional PID controller. Its response speed is faster, and it can meet the requirements of real-time and on-line adaptive control.