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提出了一种机械臂的混合模糊控制策略 ,它由一个增量模糊逻辑控制器和传统的积分 微分控制器构成 ,简称FuzzyP +ID控制器 .与传统的PID控制器相比 ,设计FuzzyP +ID控制器时 ,只需多调节一个附加参数 .我们应用FuzzyP +ID控制器控制几何参数变化的两连杆机械臂EDDA ,EDDA的阶跃和跟踪控制的实验结果表明 :FuzzyP +ID控制器更有效和更鲁棒 .
A hybrid fuzzy control strategy for manipulators is proposed, which consists of an incremental fuzzy logic controller and a traditional integral differential controller, referred to as FuzzyP + ID controller. Compared with the traditional PID controller, FuzzyP + ID We only need to adjust more than one additional parameter.We apply FuzzyP + ID controller to control the step change and tracking control of two-link manipulator EDDA and EDDA with geometric parameters change.The experimental results show that FuzzyP + ID controller is more effective And more robust.