2016 2nd International Conference on Control Science and Systems Engineering
Design and Implementation of PI and Fuzzy PID Supervisory Controllers for a
Flexible Link Robot
Mahshid Pourebrahim
Mechatronic Engineering
Kish International Campus
University of Tehran
Kish Island, Iran
e-mail: Ma.pourebrahim@ut.ac.ir
Abstract—In this paper, PID controllers are designed to
enhance the trajectory tracking performance of a flexible link
robot. Firstly, a PI controller is used where conventional
Ziegler –Nichols method adjusts the controller parameters. In
addition, Fuzzy PID controller is designed in which fuzzy rules
are utilized on-line to tune the PID controller parameters
based on the current value of error and its first time-derivative.
Also, effects of several defuzzification methods on the closed-
loop system are investigated in this paper. A flexible link robot
is implemented and controllers are applied. Experimental
results confirm the performance of the fuzzy PID controller.
Keywords—fuzzy supervisory PID control; flexible link
robot; PID controller; Ziegler –Nichols
I. INTRODUCTION
In the past two decades, flexible robots have been an
interesting research area in engineering. Flexible-link robotic
manipulators have many advantages compared to
conventional heavy and rigid robots such as lower cost,
lower energy consumption, smaller actuators, a larger work
space, higher operational speed, a larger payload-to-
manipulator ratio. Apparently, flexible link manipulators
have a complicated structure so that their dynamical analysis
and control is much more complex comparatively. Moreover,
the number of controlled variables for a flexible-link
manipulator is less than the number of mechanical degrees of
freedom; therefore the control objectives are double in this
case. Firstly, a flexible manipulator controller must achieve
the same motion path as a rigid manipulator. Secondly,
naturally stable vibrating modes must kept stable [1].
Control strategy for flexible arm does not only include
vibration control of the arm with reasonable accuracy but
achieving fast and accurate positioning. Sliding mode control
(SMC) [2], fuzzy logic control (FLC) [3, 4, 5], linear
quadratic regulator (LQR) [6], and nonlinear control methods
[7].are common control algorithms for flexible link robot.
This paper begins with a short discussion of modelling
the behavior of a flexible beam. The analysis of a flexible
system begins with developing a model that describes the
position of each point in the system relative to a suitable
inertial reference frame. The model is used to simulate the
robot response for a desire input. For this robot a classic PI
and a fuzzy PID are designed. The parameters of PI are tuned
via Ziegler Nichols Method (ZN) [8]. In the fuzzy PID
978-1-4673-9872-5/16/$31.00 ©2016 IEEE
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Moosa Ayati, Mohamad Mahjoob
School of Mechanical Engineering
College of Engineering
University of Tehran
Tehran, Iran
e-mail: M.ayati@ut.ac.ir, Mmahjoob@ut.ac.ir
controller, error and its time-derivative are inputs. In the
comparison of the PI and fuzzy PID controller it can be seen
that fuzzy PID response is faster. The experimental results
confirm that fuzzy PID has better control on the vibrations of
flexible link robot.
This paper has been organized as follows: Section II
reviews modeling of the flexible link. Section III presents PI
and fuzzy logic that is used to control of the flexible link.
Simulation and experimental results are shown in section IV.
Finally the conclusion is presented in section V.
II. FLEXIBLE LINK DYNAMIC MODELING
Euler–Bernoulli beam theory simplifies the linear theory
of elasticity which provides a means for calculating the load-
carrying and deflection characteristics of beams.
In the following we focus on the modeling of a single
flexible link manipulator which is fixed at one end (hub) and
is driven by a motor. The other end is free to flex in
horizontal plane. The length of the beam is much greater
than its width, so that the beam is restricted to oscillate
A schematic representation of the single link flexible
manipulator (SLFM) is shown in Fig. 1.
Y
θg
m1
u
X
Figure 1. Diagram of flexible link.
For an angular displacement θ and an elastic deflection u,
the total (net) displacement y(x,t) of a point along the
manipulator located at a distance x from the hub is defined as
a function of both the elastic deflection u(x, t) measured from
the line OX and rigid body motion θ(t)[9].
270
 ‫ݕ‬ሺ‫ݔ‬ǡ ‫ݐ‬ሻ ൌ ‫ߠݔ‬ሺ‫ݐ‬ሻ ൅ ‫ݑ‬ሺ‫ݔ‬ǡ ‫ݐ‬ሻ (1) ¹ସ ൌ ͳͲǤͻͻͷଶ ൈ ʹͻǤͶ͹ ൌ ͵ͷ͸ʹǤ͸ʹ ՜ ˆସ ൌ
ͷ͸͹Ǥʹͻ
The deflection of any point on the beam is given by the
Euler-Bernoulli beam equation by neglecting the effects of The structure studied is made of strain steel. The flexible
shear deformation and rotary inertia. beam with mass m1 is assumed to be concentrated in its
Equation (2) gives the fourth-order partial differential middle point. Strain gauge is used for dynamic deflection
equation (PDE), which states the dynamic equation measurement. The location for the strain measurements
describing the motion of the flexible manipulator [9].  is should be equally spread along the link. Due to relatively
Young Modulus (  ൌ ʹǤͳ ൈ ͳͲଵଵ ܰΤ݉ଶ ), and ² is the small changes in resistance during measurement, the strain
beam density. gauges are usually wired as a Wheatstone-bridge, and the
output voltage is measured by an instrumentation amplifier.
߲ ସ ‫ݕ‬ሺ‫ݔ‬ǡ ‫ݐ‬ሻ ߲ ଶ ‫ݕ‬ሺ‫ݔ‬ǡ ‫ݐ‬ሻ (2) Full bridges with four strain gauges are preferred for bending
‫ܫܧ‬ ൅ ߩ ൌͲ measurements because they are self-compensated for
߲‫ ݔ‬ସ ߲‫ ݐ‬ଶ
temperature effects and torsional forces. Fig. 2 shows the
Before developing a dynamic model for the arm, it is implemented robot.
necessary to find the natural modes of the arm. The natural
frequencies of vibration are obtained from the following
equation [10].

(3)
‫ܫܧ‬ ‫ܫܧ‬
ܹ ൌ ߚଶඨ ൌ ሺߚ݈ሻଶ ඨ
ߩ‫ܣ‬ ߩ‫ ݈ܣ‬ସ
Ž refers to the moment of inertia of the beam cross section
for a rectangular cross section and

ܾ݀ ଷ ͲǤͲͶ ൈ ͲǤͲͲͳଷ (4) Figure 2. Flexible link robot.

‫ܫ‬ൌ ൌ ൌ ͵Ǥ͵͵ ൈ ͳͲିଵଶ
ͳʹ ͳʹ
l = 30 cm = 0.3 m Instead of measuring all the modes only first mode is
b = 4 cm = 0.04 m measured. According to paper [11], using the SMC (sub
d = 0.1 cm = 0.001 m model controller) with only the first mode, works almost as
satisfactory as the FMC (full-model controller), with
b is breadth, d is thickness, and l is the link length, controlling two-modes.
The mass of the flexible beam is floating over an air table
ߩ ൌ ߩ௦௧௘௘௟ ൌ †‡•‹–› ቀ
݇݃ൗ (5) which allows the gravitational effect and the friction with the
݉ଶ ቁ ൌ ͹ͺͷ surface of the table to be canceled because the axial
Ⱦ୧ Ž , ‹ ൌ ͳǡ ‫ ڮ‬ǡͶ are factors related to natural frequencies, deformation and the gravitational effect can be neglected.
 is cross-sectional area. l and EI are the length and the flexural rigidity of the
flexible arm. The angular magnitudes defining the states of
ߚଵ ݈ ൌ ͳǤͺ͹ͷ the robot are: ߠଵ is the angular position of the point mass
ߚଶ ݈ ൌ ͶǤ͸ͻͶ equivalent to the beam mass, ߠ௧ represents the angle of the
(6) tip mass and ߠ௚ is the pitch angle of the payload. As
ߚଷ ݈ ൌ ͹ǤͺͷͶ
ߚସ ݈ ൌ ͳͲǤͻͻͷ previously mentioned, ߠ௠ is the angular position of the
output of the motor gearbox.
The model presented here is a special case of the Euler–
‫ ܣ‬ൌ ܾ ൈ ݀ ൌ ͲǤͲͶ ൈ ͲǤͲͲͳ ൌ Ͷ ൈ ͳͲିହ (7)
Bernoulli equation, i.e.
ω is natural frequency of vibration and ɘ௜ ‹ ൌ ͳǡ ‫ ڮ‬ǡͶ are ߲ସ‫ݕ‬ (10)
െ‫ܫܧ‬ ൅‫ ݍ‬ൌͲ
ith natural frequency, ߲‫ ݔ‬ସ
(8) where x and y represent the position of a point of the beam
ʹǤͳ ൈ ͳͲଵଵ ൈ ͵Ǥ͵͵ ൈ ͳͲିଵଶ
߱ ൌ ሺ‫݈ܤ‬ሻଶ ඨ with regard to the X − Y coordinate frame.
͹ͺͷͲ ൈ Ͷ ൈ ͳͲିହ ൈ ሺͲǤʹʹͷሻସ
where y refers to the deflection of the beam and q is the
ൌ ሺ‫݈ܤ‬ሻଶ ൈ ʹͻǤͶ͹ distributed load. In this particular case, q = 0. The equation
expressing dynamics of each segment that connects two
¹ଵ ൌ ͳǤͺ͹ͷଶ ൈ ʹͻǤͶ͹ ൌ ͳͲͳǤʹͻ ՜ ˆଵ ൌ ͳ͸Ǥͳ͵ adjacent point masses is defined as follows
¹ଶ ൌ ͶǤ͸ͻͶଶ ൈ ʹͻǤͶ͹ ൌ ͸ͶͻǤ͵͵ ՜ ˆଶ ൌ ͳͲ͵Ǥ͵ͻ (9)
݀ସ‫ݕ‬ (11)
¹ଷ ൌ ͹ǤͺͷͶଶ ൈ ʹͻǤͶ͹ ൌ ͳͺͳ͹Ǥͺ͸ ՜ ˆଷ ൌ ʹͺ͸Ǥ͹ʹ ‫ܫܧ‬ ൌͲ
݀‫ ݔ‬ସ

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 Integrating the equation four times for each of the two PI algorithm is used in order to compute the control
intervals in which the beam is divided by the middle mass m1 signal that actuated the robot based on the following formula.
yields the followings
௧
ଷ ଶ
‫ݕ‬ଵ ሺ‫ݔ‬ሻ ൌ ܽଷ ‫ ݔ‬൅ ܽଶ ‫ ݔ‬൅ ܽଵ ‫ ݔ‬൅ ܽ଴ ǡ ‫ א ݔ׊‬ሾͲǡ ‫ܮ‬Τʹሿ (12) ‫ݑ‬ሺ‫ݐ‬ሻ ൌ ‫ܭ‬௉ ݁ሺ‫ݐ‬ሻ ൅ ‫ܭ‬ூ න ݁ሺ‫ݏ‬ሻ݀‫ݏ‬
଴
(18)
ଷ ଶ
‫ݕ‬ଶ ሺ‫ݔ‬ሻ ൌ ܾଷ ‫ ݔ‬൅ ܾଶ ‫ ݔ‬൅ ܾଵ ‫ ݔ‬൅ ܾ଴ ǡ ‫ א ݔ׊‬ሾ‫ܮ‬Τʹ ǡ ‫ܮ‬ሿ (13) ݁ሺ‫ݐ‬ሻ ൌ ‫ݎ‬ሺ‫ݐ‬ሻ െ ‫ݕ‬ሺ‫ݐ‬ሻ

By considering the set of continuity conditions for where, ‫ݑ‬ሺ‫ݐ‬ሻ is the control input, ݁ሺ‫ݐ‬ሻ, and ‫ݕ‬ሺ‫ݐ‬ሻ are error and
constants terms ƒ ୨  and „୨ , dynamic conditions, and the output signals, respectively. ‫ܭ‬௉ and ‫ܭ‬ூ stand for controller
geometrical conditions that are presented in paper [12], the parameters, which need to be tuned.
state space equations of the robot are B. Fuzzy PID Control
Ͳଷൈଷ ‫ܫ‬ଷൈଷ (14) PI controller has a simple control structure which is easy
െͳͻʹߜ ͳͻʹߜ െͶͺߜ to understand but the response of PI controller is not fast and
‫ݔ‬ሶ ௦ ൌ ൦
Ͷͺߩ െ͸Ͳߩ ͳͺߩ Ͳଷൈଷ
൪ ‫ݔ‬௦ it robustness to un-modeled dynamics is not enough. To
overcome this problem fuzzy PID controller is designed.
െͳʹߛ ͳͺߛ െ͹ߛ
Ͳଷൈଵ Fuzzy logic controllers (FLCs) are based on experience
of a human operator and they are increasingly applied to
Ͷͺߜ many systems with nonlinearity and uncertainty.
൅൦ ൪ߠ
െ͸ߩ ௠
ߛ kp
Fuzzy Logic
‫ݕ‬௦ ൌ ሾ‫ܫ‬ଷൈଷ Ͳଷൈଷ ሿ‫ݔ‬௦ ൅ ሾͲଷൈଵ ሿߠ௠ (15) Controller
kd
alpha

e
୬ൈ୬ is the Identity matrix of dimension݊ ൈ ݊, the state d
vector is ୱ୘ ൌ ൣ©ଵ ǡ ©୲ ǡ ©୥ ǡ ©ሶ ଵ ǡ ©ሶ ୲ ǡ ©ሶ ୥ ൧ , ›ୱ is output P
Reference +
୉୍ ୉୍ ୉୍ angle I Flexible link
vector, and constants ߜ ൌ and ¤ ൌ ൌ య haveǡ ² - Scope
୫భ ୐ ୫୐୎ሚ୐ D
been defined for the sake of concision. Therefore, transfer
function between the output and the input of the robot is Figure 4. The Simulink model of supervisory fuzzy PID controller for
single flexible link robot.
ߠ௧ ሺ‫ݏ‬ሻ െ͸ߩሺ‫ ݏ‬ସ ൅ ሺͶߛ െ ͳͻʹߜሻ‫ ݏ‬ସ െ ͵ͺͶߜߛሻ (16)
ൌ A fuzzy controller measures the outputs of the process
ߠ௠ ሺ‫ݏ‬ሻ ο and continuously controls the process actions. The fuzzy
οൌ ‫ ଺ ݏ‬൅ ሺ͹ߛ ൅ ͸Ͳߩ ൅ ͳͻʹߜሻ‫ ݏ‬ସ (17) controller utilizes a form of quantification of inexplicit
൅ ሺͻ͸ߛߩ ൅ ͹͸ͺߛߜ ൅ ʹ͵ͲͶߩߜሻ‫ ݏ‬ଶ information (input fuzzy sets) and a knowledge base to
generate control force to be applied to the system. Simulink
൅ ʹ͵ͲͶߛߩߜ
model of the closed-loop system with fuzzy controller is
depicted in Fig. 4.
Eq. (18) represents the dynamics of the flexible beam. Fuzzy PID is a technique where PID controller
III. CONTROL SCHEME parameters (gains) are tuned during control process, using
the fuzzy rule base. It is not always known as an adaptive
The control scheme proposed in this paper is based on control, but it enlarges the operation area of a simple PID
classic PI and fuzzy PID controllers. controller and performs well also for a nonlinear plant with
A. PI Control unpredictable parameter variations.
In the proposed work, a fuzzy supervisor with two
PI (Proportional – Integral) control is one of the classical inputs/three outputs is used to schedule the controller
control methods which is mostly used in industry because of parameters according to predefined parameter values with
its performance and simple structure. PI control block respect to changing operation conditions. The PID
diagram of flexible link robot is shown in Fig. 3. parameters are adjusted by using fuzzy inference, which
yields a nonlinear mapping from the error (e) and error
Gain derivative (݁ሶ) to PID parameters.
Reference +
The benefit of this quantification is that the fuzzy sets can
angle + + Flexible link
Scope
be expressed by a unique linguistic expression, such as
- medium, small, or large. The linguistic representation of a
Gain 1/S
fuzzy set is also known as a term, and a collection of such
terms represents a term-set, or a library of fuzzy sets. Fuzzy
control turns a linguistic control strategy into an automatic
Figure 3. PI controller block diagram for flexible link robot. control strategy.

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 It is considered that‫ܭ‬௉ , ‫ܭ‬ௗ are in predetermined ranges
[‫ܭ‬௉ǡ௠௜௡ ,‫ܭ‬௉ǡ௠௔௫ ] and [‫ܭ‬ௗǡ௠௜௡ ,‫ܭ‬ௗǡ௠௔௫ ]. For convenience,‫ܭ‬௉
and ‫ܭ‬ௗ are normalized into the range between zero and one
by the following linear transformation:

‫ܭ‬ሖ௉ ൌ ሺ‫ܭ‬௉ െ ‫ܭ‬௉ǡ௠௜௡ ሻȀሺ‫ܭ‬௉ǡ௠௔௫ െ ‫ܭ‬௉ǡ௠௜௡ ሻ (19)

‫ܭ‬ሖௗ ൌ ሺ‫ܭ‬ௗ െ ‫ܭ‬ௗǡ௠௜௡ ሻȀሺ‫ܭ‬ௗǡ௠௔௫ െ ‫ܭ‬ௗǡ௠௜௡ ሻ

The integral time constant is defined based on the

derivative time constant as follow

ܶ௜ ൌ ߙܶௗ (20)

The integral gain is therefore obtained by

Figure 7. Membership functions of alpha.

‫ܭ‬௜ ൌ ‫ܭ‬௣ Τሺߙܶௗ ሻ ൌ ‫ܭ‬௣ଶ Τሺߙ‫ܭ‬ௗ ሻ
The parameters ‫ܭ‬ሖ௣ , ‫ܭ‬ሖௗ and ߙ are determined by a set of
fuzzy rules such as
If ݁ሺ݇ሻ is ‫ܣ‬௜ and ο݁ሺ݇ሻ is ‫ܤ‬௜ then ‫ܭ‬ሖ௣ is ‫ܥ‬௜ , ‫ܭ‬ሖௗ is ‫ܦ‬௜ and
ߙ ൌ ߙ௜ , ݅ ൌ ͳǡʹǡ ǥ ǡ ݉.
According to the Ziegler-Nichols PID tuning rule, the
integral time constant ܶ௜ is always taken four times larger
than the derivative time constant, so α is equal to 4.
Fig. 5 illustrates the fuzzy membership functions of e and
݁ሶ . Each input has seven triangular and trapezoidal
membership functions. The membership functions of ݇௣ᇱ ,݇ௗᇱ ,
and alpha are depicted in Figs. 6 and 7.
(21) After calculating output of fuzzy supervisor, the PID
controller parameters are computed from the following
equations [14]:
‫ܭ‬௣ ൌ ൫‫ܭ‬௣ǡ௠௔௫ െ ‫ܭ‬௣ǡ௠௜௡ ൯‫ܭ‬ሖ௣ ൅ ‫ܭ‬௣ǡ௠௜௡ (22)
‫ܭ‬ௗ ൌ ൫‫ܭ‬ௗǡ௠௔௫ െ ‫ܭ‬ௗǡ௠௜௡ ൯‫ܭ‬ሖௗ ൅ ‫ܭ‬ௗǡ௠௜௡
‫ܭ‬௜ ൌ ‫ܭ‬௣ଶ Τሺߙ‫ܭ‬ௗ ሻ
The set of rules which define the relation between the
input and output of fuzzy controller are defined using the
linguistic variables. All the 25 rules governing the
mechanism of each output are explained in Tables Ȥ to ȤȤȤ.
TABLE I. FUZZY TUNING RULES FOR ‫ܭ‬ሖ௣

ο‫܍‬ሺ۹ሻ
N NM NS ZO PS PM PB
B
NB B B B B B B B
NM S B B B B B S
‫܍‬ሺ۹ሻ NS S S B B B S S
ZO S S S B S S S
PS S S B B B S S
PM S B B B B B S
PB B B B B B B B
Figure 5. Membership functions of e and ݁ሶ .
TABLE II. FUZZY TUNING RULES FOR ‫ܭ‬ሖௗ

ο‫܍‬ሺ۹ሻ
N NM NS ZO PS PM PB
B
NB B B B B B B B
NM S B B B B B S
‫܍‬ሺ۹ሻ NS S S B B B S S
ZO S S S B S S S
PS S S B B B S S
PM S B B B B B S
PB B B B B B B B

Figure 6. Membership functions of  ᇱ୮ and  ᇱୢ .

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 TABLE III. FUZZY TUNING RULES FOR Ȝ methods are presented. Based on Fig. 9, the LOM
ο‫܍‬ሺ۹ሻ defuzzification method in the fuzzy controller yields better
performance (such as eliminating overshoot, rise time, and
NB NM NS ZO PS PM PB
steady state error) [13].
NB 2 2 2 2 2 2 2 In order to practically validate simulation results, a
NM 3 3 3 3 2 3 3 prototype flexible link robot is implemented. By applying a
‫܍‬ሺ۹ሻ NS 4 3 3 2 3 3 4 small disturbance to the robot, the vibrations are damped in
ZO 5 4 3 3 3 4 5 smaller time intervals time. Fig. 10, shows control input
signal of fuzzy PID controller.
PS 4 3 3 2 3 3 4
PM 3 3 2 2 2 3 3
PB 2 2 2 2 2 2 2

IV. RESULTS
The proposed fuzzy PID controller is compared by
Ziegler-Nichols tuned PI controller, and fine-tuned PI
controller (which is tuned by MATLAB/SIMULINK auto
tuning option). Results are presented for comparison in Fig.
8. Based on this figure, Ziegler-Nichols based PI controller
does not yield satisfactory results. However, MATLAB
tuned PI and fuzzy PID controllers have better performance.
As figure illustrates, for comparing PI and fuzzy supervisory
control, tuning PID parameters with fuzzy method improves
the tracking error of the reference signal.
Figure 8. Position of closed-loop system by ZN tuned PI, MATLAB
tuned PI and fuzzy PID controllers.
Figure 9. Position of closed-loop system by fuzzy PID controller by
different defuzzification methods.
In addition, the effect of defuzzification method is
studied. In the Fig. 9, only centroid and LOM defuzzification
Figure 10. Vibration signal of the closed-loop system by fuzzy PID
controller.
V. CONCLUSION
In this paper, a study on several PID controllers is done
to improve the tracking performance of flexible link robot.
As shown in the simulation, the fuzzy PID controller has
better performance. Fuzzy PID with LOM defuzzification
method improves the reference signal tracking error of the
closed-loop system. The experimental results are presented
which confirm the supervisory of the fuzzy PID controller.
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