Fuzzy-Logic Based Hybrid Trajectory Control for a 2-DOF Robot Manipulator
13th International Conference on Electrical and Electronics Engineering, ICEEE 2026, Antalya, Türkiye, 27 - 29 Nisan 2026, ss.437-442, (Tam Metin Bildiri)
- Yayın Türü: Bildiri / Tam Metin Bildiri
- Doi Numarası: 10.1109/iceee69936.2026.11598362
- Basıldığı Şehir: Antalya
- Basıldığı Ülke: Türkiye
- Sayfa Sayıları: ss.437-442
- Anahtar Kelimeler: Experimental Validation, Fuzzy Logic Control, Hybrid Control, Nonlinear Dynamics, Robot Manipulator, Trajectory Tracking
- Kocaeli Üniversitesi Adresli: Evet
Özet
This paper presents a hybrid fuzzy-logic trajectory control scheme for a 2-DOF robotic manipulator, validated through both simulation and experimental studies. While conventional PID controllers provide satisfactory steady-state accuracy, they often fail under nonlinear dynamics and parameter uncertainties. To overcome these limitations, a fuzzy inference system is employed to adaptively tune PID gains in real time, using error and error derivative as inputs. The controller is first implemented in a custom simulation environment and subsequently deployed on a physical manipulator prototype. Comparative results demonstrate that the hybrid fuzzy-PID controller significantly reduces overshoot, decreases root-meansquare trajectory error, and achieves smoother torque profiles compared to a baseline PID controller. These findings highlight the potential of fuzzy-based hybrid control for robust and precise robotic manipulator trajectory tracking.