Design of a Fuzzy-Based PID Controller for a DC Servomotor Position Control

Abstract

In this paper, a fuzzy controller is designed for a DC servomotor position control using Adaptive Neuro-Fuzzy Inference System (ANFIS). The proposed design procedure is divided into 2 steps. In the first, for a wide range of parameter change, a Proportional-Integral-Derivative (PID) controller is designed to control the DC servomotor for regulation and tracking problems. In the second, the error, between the desired and actual motor position, its derivative and its integral, and the PID output are used as training data to train iteratively a fuzzy inference system using ANFIS. The effectiveness is demonstrated through diverse tests, namely, parameter variation, regulation, and tracking of the desired shaft position.