Fuzzy neuron variable structure control for a direct-drive manipulator

被引：0

作者：

Zhang, JM ^{[1
]}

Wang, N ^{[1
]}

Wang, SQ ^{[1
]}

机构：

[1] Zhejiang Univ, Natl Key Lab Ind Control Technol, Hangzhou 310027, Peoples R China

来源：

FIFTH INTERNATIONAL SYMPOSIUM ON INSTRUMENTATION AND CONTROL TECHNOLOGY | 2003年 / 5253卷

关键词：

model-free control; variable structure control; direct-drive manipulator; fuzzy control; neuron control;

D O I：

10.1117/12.522124

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Based on the neuron model and its learning strategy proposed in [1], the fuzzy neuron variable structure control method is proposed in this paper. In this variable structure control system, the fuzzy controller speeds up the transient response when the system error is big and the neuron controller eliminates the steady state error of the system by utilizing the associate learning algorithm. To the independent joint of direct-drive manipulator, the control experiments are made. The results show that this model-free controller has good performance.

引用

页码：706 / 709

页数：4