Kinematic Indicators as Complementary Performance Metrics for PID and Fuzzy Speed Controllers in Rover Actuators

This work provides an experimental comparison between classical PID, analytically compensated PID, and fuzzy control applied to the speed control of a rover actuator based on a permanent magnet DC motor. Unlike most studies, which focus on classical metrics such as transient response and steady-state error, this work incorporates kinematic indicators such as acceleration and jerk to characterize the dynamic effort applied to the actuator. The results indicate that the fuzzy controller achieves the fastest transient response and the best disturbance rejection, although at the cost of an IAJ 2.378 times higher than that of the classical PID and a peak jerk 79.36% higher under nominal conditions. The classical PID exhibits the smoothest kinematic profile under nominal operation, but under disturbances it generates jerk peaks 2.39 times higher than the fuzzy controller and an IAJ 1.67 times higher than the compensated PID, evidencing its inadequacy under variable loads. The compensated PID achieves the lowest cumulative IAJ under disturbance, outperforming the fuzzy controller by 6.7%, and provides the best overall balance between response speed, disturbance rejection, and cumulative mechanical wear.