| The Redundant Arm Self-motion Control Based on Self-tuning Fuzzy PID Controller |
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| 作者姓名： | 刘宇 Sun Lining Du Zhijiang |
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| 作者单位： | Robotics Institute，Harbin Institute of Technology，Harbin 150001，P.R.China |
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| 基金项目： | SupportedbytheHighTechnologyResearchandDevelopmentProgrammeofChina . |
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| 摘 要： | 0 IntroductionUsingaconventionalPIDcontroller,itisdifficulttoachieveadesiredtrajectory trackingprecisionbecauseofrobot’snonlinearity ,jointcouplingandtimevariablespe ciality1] .Hence ,manycontroltechnologieswereat temptedtosolvethesesproblems ,typicallyadaptivecon trol,optimizationcontrol,neuralnetworkcontrol,andslidingmodevariablestructurecontrol2 ] .Eversince 2 0yearsago ,FLChasbeenusedwidelywithobviousprogressincontrolfields ,especiallyinrobotics3] .ItisprovedthatFLCisverysuitablef…
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The Redundant Arm Self-motion Control Based on Self-tuning Fuzzy PID Controller |
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| Liu Yu,Sun Lining,Du Zhijiang.The Redundant Arm Self-motion Control Based on Self-tuning Fuzzy PID Controller[J].High Technology Letters,2004,10(2). |
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| Authors: | Liu Yu Sun Lining Du Zhijiang |
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| Abstract: | A fuzzy control algorithm based on self tuning PID proportional factor is presented. To a certain degree, it overcomes robot motion control's nonlinearity and uncertainty caused by joints coupled and friction, and decreases overshoot of end manipulator's tracking desired curves. The controller's structure is very simple but effective. With this control method, a 7 DOF redundant arm's self motion developed by the authors is investigated. Research results show that the said controller restrains track overshoot and possesses preferable merits. |
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| Keywords: | proportional factor self-tuning fuzzy PID controller trajectory-tracking error self-motion control |
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