Fuzzy Tuned PID Controller for Envisioned Agricultural Manipulator

Abstract The implementation of image-based phenotyping systems has become an important aspect crop and plant science research which shown tremendous growth over the years. Accurate determination features using images requires stable imaging very precise processing. By installing a camera on mechanical arm driven by motor, maintenance accuracy stability becomes non-trivial. As per state-of-the-art, issue external shake incurred due to vibration is great concern in capturing accurate images, may be induced driving motor manipulator. So, there requirement for active controller sufficient attenuation However, are few reports agricultural practices use control algorithms. Although, many strategies have been utilized manipulators associated various applications, no strategy with validated provided such envisioned manipulator simple low-cost hardware devices compensation non-linearities. this work, combination proportional-integral-differential (PID) type-2 fuzzy logic (T2-F-PID) implemented control. validation Lyapunov analysis established. A torsional actuator (TA) applied mitigating vibration, new contribution area manipulators. Also, prove effectiveness controller, results T2-F-PID compared conventional PD/PID controllers, type-1 PID (T1-F-PID) controller.