Comparison of Results of PID and Fuzzy Control of Two Linked Rigid Manipulator

In this dissertation Euler-Lagrange’s method is used to model the dynamics of two linked rigid manipulator. The multi input and the multi output model is found to be nonlinear. To observe and control the output response of manipulator, SIMULINK model is designed using S-Function block without any controller and the response found is unbounded. In order to control the position of the manipulator PID and Fuzzy Controllers are used. PID Controller and Fuzzy controllers are designed using RH criteria and linearizing the model about a point respectively. Comparison of controller is made and observed that Fuzzy control is better than PID control.