Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely:   present a fuzzy self-tuning algorithm to select the Proportional, Integral and Derivative gains of a PID controller according to the actual state of a robotic manipulator. The stability via Lyapunov theory for the closed loop control system is also analyzed and shown that is locally asymptotically stable for a class of gain matrices depending on the manipulator states. This feature increases the potential of the PID control scheme to handle practical constraints in actual robots such as presence of actuators with limited torque capabilities. Experimental results on a two degrees of freedom robot arm shown the usefulness of the proposed approach.
['Jose Luis Meza', 'Víctor Santibáñez', 'Rogelio Soto', 'Miguel A. Llama']
I am writing a research paper on a idea Stable fuzzy self-tuning PID control of robot manipulators
[{"from": "human", "value": "I am writing a research paper on a idea Stable fuzzy self-tuning PID control of robot manipulators"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely:   present a fuzzy self-tuning algorithm to select the Proportional, Integral and Derivative gains of a PID controller according to the actual state of a robotic manipulator. The stability via Lyapunov theory for the closed loop control system is also analyzed and shown that is locally asymptotically stable for a class of gain matrices depending on the manipulator states. This feature increases the potential of the PID control scheme to handle practical constraints in actual robots such as presence of actuators with limited torque capabilities. Experimental results on a two degrees of freedom robot arm shown the usefulness of the proposed approach."}]