一种控制机械手的自调节模糊逻辑控制器
A Self-Tuning Fuzzy Controller for Manipulators
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摘要: 介绍了一种机械手的模糊逻辑控制的新方法.它能根据系统的前期响应自动修改 误差变化率的隶属函数来获得理想的控制特性.在研究隶属函数对控制特性影响的基础上, 首先确定一族参数化的隶属函数.然后,用Nelder-Mead单纯形算法优化模糊逻辑控制器. 最后,用该模糊控制器控制一个具有非线性动力学特征的两自由度机械手,验证了所提方案 的有效性和鲁棒性.Abstract: This paper presents a new approach to automatic tuning of fuzzy logic controller for manipulators, which modifies the shape of membership functions automatically according to previous responses to achieve a desired control performance. On the basis of defining a set of cubic splines as membership functions regarding change-in-error ej(t), the optimal membership functions are found by the Nelder and Mead's simplex algorithm. The proposed control scheme consists of a traditional fuzzy logic controller and a conventional derivative controller. In order to demonstrate the effectiveness and the robustness of the control scheme, we report a number of simulation results of a two-link manipulator in the presence of load and friction changes.
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Key words:
- Fuzzy logic control /
- robotics /
- optimum technique /
- nonlinear control
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