A Comparative Study of Fuzzy PID Control Algorithm for Position Control Performance Enhancement in a Real-time OS Based Laparoscopic Surgery Robot

Abstract

Position control in joint space is a basic problem in robot control where the goal is to make the manipulator joint track a desired trajectory. A number of globally asymptotically stable position control algorithms are available in the literature. Among them, an application of intelligent fuzzy PID controller to position control of robot system is studied in this paper. The robot system used is the laparoscopic surgery robot of the National Cancer Center, Korea. The intelligent fuzzy control algorithms consist of rule-based fuzzy PID and learning fuzzy schemes. The results of the experiments for the rulebased fuzzy PID controller and the learning fuzzy controller are compared with results using conventional PID controller. Various performance indices like the RMS error, IAE, ISE and etc. are used for comparison. It is observed that the learning fuzzy controller gives the best performance. Further refinement of the proposed algorithm for the control performance enhancement is under way.