Comparative Implementations of Fuzzy Controllers in a 2D Pneumatic Arm

• Main Authors: Yu-sheng Chen, 陳佑昇
• Other Authors: Y-T Wang
• Format: Others
• Language: zh-TW
• Published: 2008
• Online Access: http://ndltd.ncl.edu.tw/handle/41051438114843224591

碩士 === 國立臺灣科技大學 === 機械工程系 === 96 === In this thesis, a 2D pneumatic arm control system is setup by two muscle actuators and kinematic linkages. Using the sliding mode fuzzy controller, self-organizing fuzzy controller and self-organizing sliding mode fuzzy controller can evaluate the dynamic behaviors of each axial subsystem individually. Then, Implementations of controllers are applied for various experiments of this 2D pneumatic arm control system. From process, experimental results, we can study this transient and steady state behaviors, and then justify their control accuracy and distinction of sliding mode fuzzy controller, self-organizing fuzzy controller and self-organizing sliding mode fuzzy controller.