| Summary: | 碩士 === 大葉大學 === 電機工程研究所 === 82 === In control system design , one of the most difficulty things
is that the mathematical model is hardly to obtain if
the plant of the system has the properties of highly
coupling and nonlinearity. In order to conquer these
difficulties , we propose a mathod that combine fuzzy with
adaptive model following control theories on a highly coupling
, nonlinearity robot arm system . Under this application ,
without any mathematical model need to be known , the output
of robot arm can follow the reference model The simulation
results show that the ideal we proposed is really suitable for
highly coupling, nonlineraity and time-varing system . Besides
, the implementation of the hardware robot arm with the
software controller is also proposed.
|
|---|
