Fuzzy Precompensated Tilt-Integral-Derivative-Acceleration (TIDA) Controller for a Single Link Robot

Document Type : Research Article

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Department of Industrial Electronics and Control Engineering Faculty of Electronic Engineering, Menoufia University, Menouf, Egypt.

Abstract

This study proposes a Fuzzy Precompensated TIDA (FP-TIDA) controller to enhance the control of nonlinear systems. Traditional controllers such as TIDA and FTIDA exhibit limitations, including high overshoot, slow settling time, and excessive control effort, affecting their efficiency in dynamic environments. To address these issues, FP-TIDA integrates a fuzzy logic-based precompensation mechanism, improving transient response, stability, and disturbance rejection. Simulation results demonstrate that FP-TIDA outperforms existing controllers, achieving the best rise time, settling time, peak time, and minimal overshoot. Additionally, FP-TIDA generates a smoother control signal, reducing energy consumption and ensuring efficient operation. Comparative analysis confirms its superior tracking accuracy and robustness under step input changes. The proposed approach enhances control system performance, making it a promising candidate for real-world applications. Future research will focus on further optimization through adaptive tuning, machine learning-based parameter adjustment, and experimental validation on hardware platforms. Additionally, extending the framework to multi-input multi-output (MIMO) systems and incorporating adaptive control strategies will improve its versatility and real-time applicability. The findings of this study contribute to advancing intelligent control strategies for nonlinear dynamic systems, offering improved precision, stability, and efficiency.

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