不确定性操作臂的混合模糊P+ID控制的实验研究

Experiment Study of a Mechanical Manipulator under uncertainty by Hybrid Fuzzy P+ID Controllers

提出了一种机械臂的混合模糊控制策略 ,它由一个增量模糊逻辑控制器和传统的积分 微分控制器构成 ,简称FuzzyP +ID控制器 .与传统的PID控制器相比 ,设计FuzzyP +ID控制器时 ,只需多调节一个附加参数 .我们应用FuzzyP +ID控制器控制几何参数变化的两连杆机械臂EDDA ,EDDA的阶跃和跟踪控制的实验结果表明 :FuzzyP +ID控制器更有效和更鲁棒 .

This paper presents a hybrid control scheme for the mechanical manipulator, which consists of a fuzzy logic proportional controller and a conventional integral and derivative one (Fuzzy P+ID). In comparison with the PID controller, only one additional parameter should be adjusted to tune the Fuzzy P+ID controller. The proposed control scheme is implemented to control a two link manipulator EDDA under geometrical parameters' changes. The experimental results on both of tracking and step control demonstrate the effectiveness and the robustness of the Fuzzy P+ID controller.