Application of Self-organizing fuzzy controller on a robotic manipulator

• Main Authors: Lee, Ji-Shin, 李基新
• Other Authors: Shiuh-Jer Huang
• Format: Others
• Language: zh-TW
• Published: 1997
• Online Access: http://ndltd.ncl.edu.tw/handle/87509944681428447578

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.