Fuzzy adaptive PD control for robot and experiment study

Considering the problem of ordinary PID controller does not regulate the parameters on-line, a kind of fuzzy adaptive PD control algorithm is presented, which is applied successfully into the robot´s trajectory tracing control. As the role of a tuner of the robot PD controller gains, this algorithm does not only uses a conventional PD controller to roughly regulate parameters but also uses fuzzy control part to mildly regulate parameters. The result of experiment shows superior control performance than the conventional PD controller for robot control.