摘要
针对机器人轨迹跟踪控制问题,提出一种模糊学习算法,并设计出结构合理的模糊学习控制器,该控制器通过自身从过去趋向的学习能力可自动调整其模糊控制规则。将这种方法用于一个两自由度机械手的控制,仿真结果显示控制效果良好,所提出的控制器比惯用的模糊控制器展示出更良好的应用前景。
In this paper a fuzzy learning control algorithm for trajectory tracking control system of a robot is presented. The controller is designed. The proposed controller can self-adjust its fuzzy control rules using its learning capability from past control trends A two-degree of freedom robotic manipulator is simulated to demonstrate the validity of the proposed method. The proposed controller shows better performance than the conventional fuzzy logic controller.
出处
《太原重型机械学院学报》
2003年第4期270-273,共4页
Journal of Taiyuan Heavy Machinery Institute
基金
山西省自然基金资助项目(20011037)
