Design of an enhanced hybrid fuzzy P+ID controller for a mechanical manipulator

Citation
W. Li et al., Design of an enhanced hybrid fuzzy P+ID controller for a mechanical manipulator, IEEE SYST B, 31(6), 2001, pp. 938-945
Citations number
26
Language
INGLESE
art.tipo
Article
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS
ISSN journal
1083-4419 → ACNP
Volume
31
Issue
6
Year of publication
2001
Pages
938 - 945
Database
ISI
SICI code
1083-4419(200112)31:6<938:DOAEHF>2.0.ZU;2-P
Abstract
We propose in this paper an enhanced FUZZY P+ID controller to improve contr ol performance in both dynamic transient and steady-state periods for mecha nical manipulators under uncertainty. The FUZZY P+ID controller adds only t wo additional parameters to be tuned relative to the original PID controlle r. One of these parameters is mainly used to reduce a steady-state error. T he other is used to speed up the dynamic response. A simulation study and e xperimental results for a two-link manipulator with uncertainty demonstrate the superior control performance of the proposed FUZZY P+ID controllers.