机器人电液位置伺服系统的并联模糊控制研究

Investigation into parallel fuzzy control of electrohydraulic position servo system for robot

本文介绍一种简单的并联模糊控制器,经计算机仿真和实时控制实验结果均表明,并联模糊控制能有效地克服机器人系统固有的变惯量、非线性等不利因素的影响。此外,该控制器对系统参数变化不敏感,具有很强的鲁棒性,能显著提高机器人系统的位置精度。

This paper introduces a simple parallel fuzzy controller.Computer simulation and real time control test show that the controller can greatly overcome the detrimental effects of such factors as varying inertia and nonlinearity inherent in robotic system.Furthermore,the controller is insensitive to variation in system parameters,and can outstandingly improve position accuracy of robotic system.