Robust Self-Tuning Fuzzy PID Control with Disturbance Rejection for Three-DOF Shipboard Robotic Manipulator Systems

Ankita Maheshwari; Alka Agrawal; Vishal Goyal

doi:10.5750/ijme.v168iA4(S).1917

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Published: Oct 10, 2026

DOI: https://doi.org/10.5750/ijme.v168iA4(S).1917

Keywords:

Fuzzy PID control Disturbance observer Three-DOF robotic manipulator Shipboard automation Marine robotic systems

Ankita Maheshwari

Department of Electronics and Communication Engineering, GLA University, Mathura, India, Department of Electronics and Communication Engineering, Dr. Bhimrao Ambedkar University, Agra, India

Alka Agrawal

Department of Electronics and Communication Engineering, GLA University, Mathura, India

Vishal Goyal

Department of Electronics and Communication Engineering, GLA University, Mathura, India

Abstract

A comprehensive performance analysis of four control strategies implemented on a three-link robotic manipulator system was conducted. The control strategies examined include conventional proportional-integral-derivative, advanced proportional-integral-derivative, fuzzy proportional-integral-derivative, and the proposed advanced fuzzy proportional-integral-derivative controller. The proposed controller integrates proportional-integral-derivative control principles with nonlinear fuzzy logic to enhance overall system performance. Controller parameters were optimized using the spider monkey optimization algorithm with a weighted objective function combining integral of absolute change in controller output and integral of absolute error metrics. Robustness was rigorously evaluated under challenging maritime-relevant conditions, including noise suppression and external disturbance rejection scenarios applicable to shipboard manipulator operations. Comparative results demonstrated that the proposed advanced fuzzy proportional-integral-derivative controller consistently outperformed alternative approaches in trajectory tracking accuracy, stability maintenance, and adaptive response under disturbance and noise conditions, establishing it as a superior solution for precise control of robotic manipulator systems in dynamic marine environments.

Issue

Vol. 168 No. A4(S) (2026): Special Issue: International Conference of Advance Research and Innovation

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