Yêu cầu nội dung báo cáo trình bày ngắn gọn và rõ ràng các phần sau:

 Tóm tắt nguyên lý điều khiển của hệ thống đã chọn (theo đề tài đã đăng ký), vấn đề gặp
phải của hệ thống khi đã sử dụng phương pháp điều khiển thông thường (PI, PD, PID).
 Cơ sở (cách suy luận) cho luật điều khiển, tập mờ của hệ thống cần cải thiện với bộ điều
khiển mờ.
 Hiệu quả của hệ thống máy khi được điều khiển với bộ điều khiển mờ (mờ động hoặc mờ
tĩnh tùy vào lựa chọn của các nhóm). Thể hiện kết quả qua các hình vẽ, biểu đồ, đưa ra
các ý kiến thảo luận cụ thể với kết quả đã làm được (khuyến nghị so sánh với kết quả
hoạt động của hệ thống với hệ điều khiển thông thường).

LƯU Ý: CÁC NHÓM TỰ VIẾT BÁO CÁO, Các trường hợp phát hiện CÓ CHÉP BÀI trong
phần báo cáo (kể cả trình bày tổng quan lý thuyết) giữa các nhóm trong cùng nhóm học phần
hoặc khác nhóm học phần, đều có thể dẫn đến kết luận RỚT MÔN.

DESIGN OF THE CONTROLLER

1.1.1. Selection of the Controller (PID, PD, or Other Advanced
Control Methods)
Designing the control system for a 4-DOF robotic arm, selecting the appropriate
controller is crucial to ensure efficient and accurate system operation. The common
types of controllers include:

PID (Proportional-Integral-Derivative) Controller:

Popular and easy to apply.

Provides a balance between performance and simplicity.

Suitable for most control systems with requirements for fast and stable response.

PD (Proportional-Derivative) Controller:

Simpler than PID, only using two parameters, P and D.

Often used when reducing overshoot and improving stability.

Cannot eliminate steady-state error as there is no integral component.

 Other Advanced Control Methods:

Fuzzy Logic Controller: Fuzzy Logic Controllers (FLCs) are control systems that utilize
fuzzy logic to describe and process information. Fuzzy logic, a branch of artificial intelligence,
enables the processing of imprecise and vague information. FLCs operate by employing fuzzy
logic-based "if-then" rules to make control decisions.

Advantages:

FLCs offer several advantages over traditional controllers, including:

 Suitability for nonlinear and uncertain systems: FLCs can handle imprecise
and vague information, making them well-suited for nonlinear and uncertain
systems where obtaining accurate mathematical models is challenging.
 Ease of implementation: FLCs can be readily implemented using software or
hardware.
 Superior performance: FLCs deliver outstanding performance in various real-
world applications.

Neural Network Controller: Learns from data to adjust the system, suitable for
complex systems.

Model Predictive Control: Uses a mathematical model of the system to predict and
optimize control.
 Sliding Mode Control: Robust against uncertainties and disturbances.
In this project, a PID controller is chosen due to its popularity, ease of application,
and ability to provide good performance for the robotic arm system.

1.1.2. PID Controller Design

 Introduction to PID Controller

A PID controller is one of the most common control methods, widely used in automatic
control systems. The PID controller uses three main components:

P (Proportional): Adjusts the control signal proportionally to the current error. The P
component helps reduce the error but can lead to oscillations.

I (Integral): Adjusts the control signal based on the accumulated error over time. The I
component helps eliminate steady-state error but can cause lag.

D (Derivative): Adjusts the control signal based on the rate of change of the error. The
D component helps reduce overshoot and increase system stability.

The PID controller equation is:

u(t)=Kpe(t)+Ki∫e(t)dt+Kddtde(t)

Where:

u(t) is the control signal.

e(t) is the error (difference between the desired value and the actual value).

𝐾𝑝,𝐾𝑖,𝐾𝑑Kp,Ki,Kd are the control parameters corresponding to the P, I, and D

components.
 Tuning the PID Parameters (P, I, D)

Tuning the parameters Kp,Ki,Kd is crucial to ensure the PID controller operates
effectively. The tuning methods include:

Ziegler-Nichols Method:

Reaction Curve Method:

Set Ki=0 and Kd=0.

Increase Kp until the system oscillates continuously.

Record the values Ku (ultimate gain) and Tu (period of oscillation).

Calculate the PID parameters using the formulas:

Kp=0.6.Ku

Ki=2Kp/Tu

Kd=K.pTu/8

Step Response Method:

Set Ki and Kd to 0.

Increase Kp until the desired value is achieved.

une Ki to eliminate steady-state error.

Tune Kd to reduce overshoot and increase stability.

Cohen-Coon Method:

Uses the system's response to determine the PID parameters. This method is
suitable for systems with large time delays.

Optimization Methods:

Use optimization algorithms such as Genetic Algorithm (GA), Particle Swarm

Optimization (PSO) to find optimal values for the PID parameters.

1.1.3. System Simulation

 1.1.3.1. Using MATLAP/Simulink
 Building the System Model:

Model the 4-DOF robotic arm using Simulink blocks.

Figure 2.17 Model the 4-DOF

1.1.3.2. Design the PID Controller

Use the PID block in Simulink to design the PID controller.

Tune the PID parameters based on the chosen methods.

 Figure 2.18 Design the PID Controller

Overall System Operation:

Inverse Dynamics Block:

 Input Signal: The desired robot position is input into the system.
 Function: The inverse dynamics block calculates the required joint angles based
on the input signal and system parameters.

PID Control Block:

 Input Signal: The required joint angles from the inverse dynamics block.
 Function: The PID control block adjusts the joint angles to minimize the error
between the desired position and the current position of the joints. The adjusted
signals from the PID block are sent to the subsequent simulation blocks.

Simscape Block:

 Input Signal: The joint angles adjusted by the PID block.

  Function: The Simscape block simulates the robot's movement using the joint
angles and mathematical equations, generating simulation output data that includes
the robot's position and velocity.

Forward Dynamics Block:

 Input Signal: Output data from the Simscape block (including the simulated
position and velocity of the robot).
 Function: The forward dynamics block calculates the current position and
velocity of the robot based on the simulation data.

Output Block:

 Input Signal: Information about the current position and velocity of the robot
from the forward dynamics block.
 Function: This information is sent to the output block for display or further
processing.

Simulation results :

Figure 2.19 PID response

 Figure 2.20 PID response

Here are some observations about the graph:

 Not Meeting Requirements: The average response time is still higher than the
reference threshold, meaning it does not yet meet the performance requirements.

 Variability: There is variability in the response time, possibly due to external

factors like system load or network, indicating that the PID controller needs further
tuning to ensure stability..

Based on these observations, some recommendations can be made:

 Continue to monitor the response time of the system to see if it continues to

improve.
 Identify the root causes of the variability in the response time of the system.
 Take steps to reduce the response time of the system to the reference threshold.
2. DESIGN OF FUZZY CONTROLLER FOR ROBOTIC ARM
SYSTEM
- Fuzzy fuzzy control using Mamdani rule system

- The subject has an ideal analysis stage

- stabilizes the object's state around the equilibrium point

- A fuzzy controller, if well designed, can control objects in a wide working

domain with zero setting error.

3. MODELING OF THE 4-DOF ARM IN MATLAP SIMULINK

3.1. USAGE BLOCKS

Figure:2.21 Blocks in Simulink

System’s Fuzzy controller:

Figure 2.22 Structure of the fuzzy controller

3.1.1. BUILDING FUZZY RULES ON MATLAP

Step 1: Launch the Fuzzy logic designer program by typing the keyword "Fuzzy" in the
command window. The Fuzzy Logic Designs dialog box will appear.

Fugure 2.23 Fuzzy Controller Logic InterFace.

 Step 2: Set up the input and output parameters for the system.

Figure 2.24 Setting input parameters for the controller

Step 3: Construct fuzzy rules for the input-output parameters.

Figure 2.25 Fuzzy rules for the e coeficient

Figure 2.26 Fuzzy rules for the De coeficient

 Figure 2.27 Fuzzy rules for the e coeficient

Step 3: Construc the inference for the system.

Table 1: Rules Fuzzy

Figure 2.28 Result of the controller
Figure 2.29 Simulation result of Fuzzy
Figure 2.30 Structure of Fuzzy Controller in Simulink

Figure 2.31 Scope Blocks

Results:

Figure 2.32 Results of the Simulink Follow the given figure

 Figure 2.33 Results of the Simulink Follow the given figure

Comment:
The use of a Fuzzy-PID controller makes the simulation system smooth and allows
it to almost perfectly follow the predefined path. The problem-solving approach in fuzzy
set logic theory closely mimics human sub-thinking, enabling it to tackle highly complex
issues with many unclear elements. Applying fuzzy set theory to simulation yields
excellent results, as demonstrated by experimental models that show stable outcomes
with acceptable errors. With its capability to handle concepts familiar to human life,
combining fuzzy theory with other methods such as neural networks and artificial
intelligence undoubtedly opens up a promising research direction with many positive
prospects.