Enhanced Self-Organizing Fuzzy COntroller for Robotic Manipulator

• Main Authors: Ching-Yi Tsai, 蔡靜誼
• Other Authors: 林震
• Format: Others
• Language: zh-TW
• Published: 2008
• Online Access: http://ndltd.ncl.edu.tw/handle/dxb6jq

碩士 === 國立臺北科技大學 === 機電整合研究所 === 96 === Robots are multiple-input multiple-output (MIMO) nonlinear systems.It is difficult to identify precise mathematical models for these,making a model-based controller for evaluation impractical. Therefore,this study has developed two model-free intelligent controllers: (1) a self-organizing fuzzy controller,and (2) a self-organizing fuzzy logic and radial basis function neural-network controller.These would be used to control individually a 2-link and a 3-link robotic manipulator to determine control performance.Both intelligent controllers have good control performances in trajectory tracking for robotic motion control,as shown in simulation results.Moreover, the state-space approach was employed in evaluating the stability and robustness of the proposed intelligent controllers. Simulation results have also confirmed that these intelligent controllers have excellent stability and robustness.