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

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.