神经元调整比例因子模糊控制器控制直接驱动机器人单关节

A Fuzzy Controller with Neuron Auto-tuning Scaling Factors for Independent Joint of the Robot Manipulators with Direct Driving

基于文献［１］的神经元模型及学习策略，提出用神经元优化调整比例因子的模糊控制器设计方法，并针对直接驱动机器人单关节位置控制系统进行仿真实验。研究结果表明，非模型控制方法具有很强的鲁棒性、抗干扰性及满意的控制品质。

Based on the existing neuron model and its learning strategy,a new fuzzy control method with the scaling factors optimization tuned by the neuron is proposed in this paper. To the independent joint of robot manipulators driven directly by a DC motor supplied by PWM, the simulation experiments are made. The results show that this new model-free controller has excellence performances, strong robustness and disturbance resistant ability.