Non-Linear Fuzzy PID Controller for Three Link Manipulator System Using Grey Wolf Algorithm

Abstract

This paper presents a Nonlinear Fuzzy PID Controller optimized using the Grey Wolf Algorithm (GW-FPID) for a three-link manipulator system, with a comparative evaluation against PID and Fuzzy PID controllers. The PID controller struggles with nonlinearities and disturbances, while the Fuzzy PID controller improves adaptability but is limited by predefined rules. The proposed GW-NFPID controller, optimized using the Grey Wolf Algorithm, dynamically adjusts control parameters, achieving superior trajectory tracking, reduced overshoot, and enhanced disturbance rejection.

The results demonstrate that GW-NFPID outperforms all other controllers, making it ideal for industrial robotics, medical robots, autonomous manipulators, and service robots requiring precision and adaptability. By integrating intelligent control and metaheuristic optimization, the GW-FPID controller proves to be a robust solution for nonlinear robotic systems. Future work may focus on real-time implementation and hybrid optimization techniques for further enhancements.