Design of an enhanced hybrid fuzzy P+ID controller for a mechanical manipulator

被引：25
作者：
Li, W [1 ]
Chang, XG
Farrell, J
Wahl, FM
机构：
[1] Calif State Univ Bakersfield, Dept Comp Sci, Bakersfield, CA 93311 USA
[2] Tsinghua Univ, Dept Comp Sci & Technol, Natl Lab Intelligent Syst & Technol, Beijing 100084, Peoples R China
[3] Univ Calif Riverside, Dept Elect Engn, Riverside, CA 92521 USA
[4] Tech Univ Braunschweig, Inst Robot & Proc Control, D-3300 Braunschweig, Germany
来源：
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS | 2001年 / 31卷 / 06期
关键词：
fuzzy logic control; PID control hybrid system; robotics manipulator control;
D O I：
10.1109/3477.969497
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We propose in this paper an enhanced FUZZY P+ID controller to improve control performance in both dynamic transient and steady-state periods for mechanical manipulators under uncertainty. The FUZZY P+ID controller adds only two additional parameters to be tuned relative to the original PID controller. One of these parameters is mainly used to reduce a steady-state error. The other is used to speed up the dynamic response. A simulation study and experimental results for a two-link manipulator with uncertainty demonstrate the superior control performance of the proposed FUZZY P+ID controllers.
引用
收藏
页码：938 / 945
页数：8
相关论文
共 26 条
[1]   LEARNING AND TUNING FUZZY-LOGIC CONTROLLERS THROUGH REINFORCEMENTS [J].
BERENJI, HR ;
KHEDKAR, P .
IEEE TRANSACTIONS ON NEURAL NETWORKS, 1992, 3 (05) :724-740
[2]  
BERENJI HR, 1992, INTRO FUZZY LOGIC AP
[3]  
Brady M., 1982, Robot Motion: Planning and Control
[4]  
CHANG XG, 2000, THESIS TSINGHUA U BE
[5]  
CHEN F, 1993, IEEE T AUTOMAT CONTR, V40, P791
[6]  
COMMURI S, 1995, P IEEE INT S INT CON
[7]  
Craig J J, 1986, Introduction to Robotics: Mechanics & Control, V3rd, DOI DOI 10.1016/0005-1098(87)90105-1
[8]  
DEFIGUERREDO RJP, 1993, NONLINEAR FEEDBACK C
[9]  
DESOER CA, 1975, FEEDBACK SYSTEM INPU
[10]   Stability and approximator convergence in nonparametric nonlinear adaptive control [J].
Farrell, JA .
IEEE TRANSACTIONS ON NEURAL NETWORKS, 1998, 9 (05) :1008-1020
123