Application of Self-organizing fuzzy controller on a robotic manipulator
碩士 === 國立台灣工業技術學院 === 機械工程技術研究所 === 85 === Abstract In this study,intelligent controllers were employedfor controlling a robotic system .Since robotic manipulatoris a highly nonliner coupling system,its mathematic modelis very complicated and hard to e...
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| Other Authors: | |
| Format: | Others |
| Language: | zh-TW |
| Published: |
1997
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| Online Access: | http://ndltd.ncl.edu.tw/handle/87509944681428447578 |
| Summary: | 碩士 === 國立台灣工業技術學院 === 機械工程技術研究所 === 85 === Abstract In this study,intelligent
controllers were employedfor controlling a robotic system .Since
robotic manipulatoris a highly nonliner coupling system,its
mathematic modelis very complicated and hard to establish. A
proper traditionalmodel-based controller is difficult to design.
Hence,model-freeintelligent controller was adopted to improve
this defectof controllers for obtaining good control
performance. In this research ,three different intelligent
controlstrategies were employed in robotic trajectory tracking
control :(1)Fuzzy controller (2)Self-organizing fuzzy controller
(3)hybrid grey predictor and self- organizingfuzzy controller.
The third kind of control strategy isproposed to improve the
control performance of fuzzy controller and to reduce the fuzzy
control rule''s adjustingwork .The concepts of self-learning and
feedforward controlare included by introducing the learning rule
and grey predictor into the control system. The experimental
resultsshow that the intelligent controller not only can achieve
good robustness and adaptability but also can effectivelyreduce
the overshoot.
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