A robust decoupling control for MIMO robot manipulator

For a multiple-input-multiple-output (MIMO) robot manipulator, the conventional decoupling control methods may not obtain the desired performance because of many disturbances coming from strongly coupled, nonlinear, time-varying factors. Thus, a new control strategy, which combines disturbance-based control (DBC) with the fuzzy PID controller, was used to control a 4DOF robot manipulator. In this control strategy, the DBC was mainly used to reduce the influences between joints and suppress disturbance, and the fuzzy PID controller was used to mainly improve the robustness of the system. The simulation results show the proposed strategy is efficient in decoupling and has better performance than PID control with DBC, which demonstrates that the proposed strategy is effective.