Fuzzy PID-Based Trajectory Control for a 5-DoF Robot with Disturbance Compensation and Simscape Integration

Abstract

This paper presents a study on the trajectory tracking control of a 5-DoF robot using a Fuzzy PID controller. The robot’s kinematic and dynamic
models were developed, with specifications detailed for its components, including dimensions, weight, and joint angles. A Fuzzy PID controller
was implemented to dynamically adjust control parameters based on error feedback and its derivative. The simulations demonstrated the
controller’s efficacy in minimizing angular and positional errors, achieving high accuracy and stability. The system’s robustness was further
evaluated under disturbance conditions, showcasing the controller’s effectiveness in maintaining trajectory accuracy. Additionally, simulations
were performed in Simscape to simulate the physical environment of the robot. The results indicate that the proposed Fuzzy PID con-
troller significantly enhances the robot’s capability to follow desired trajectories, ensuring reliable and precise operation in various environments.