Design of an enhanced hybrid fuzzy P+ID controller for a mechanical manipulator
We propose in this paper an enhanced fuzzy P+ID controller to improve control performance in both dynamic transient and steady-state periods for mechanical manipulators under uncertainty. The fuzzy P+ID controller adds only two additional parameters to be tuned relative to the original PID controlle...
| Veröffentlicht in: | IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics : a publication of the IEEE Systems, Man, and Cybernetics Society. - 1996. - 31(2001), 6 vom: 15., Seite 938-45 |
|---|---|
| 1. Verfasser: | |
| Weitere Verfasser: | , , |
| Format: | Online-Aufsatz |
| Sprache: | English |
| Veröffentlicht: |
2001
|
| Zugriff auf das übergeordnete Werk: | IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics : a publication of the IEEE Systems, Man, and Cybernetics Society |
| Schlagworte: | Journal Article |
| Zusammenfassung: | We propose in this paper an enhanced fuzzy P+ID controller to improve control performance in both dynamic transient and steady-state periods for mechanical manipulators under uncertainty. The fuzzy P+ID controller adds only two additional parameters to be tuned relative to the original PID controller. One of these parameters is mainly used to reduce a steady-state error. The other is used to speed up the dynamic response. A simulation study and experimental results for a two-link manipulator with uncertainty demonstrate the superior control performance of the proposed fuzzy P+ID controllers |
|---|---|
| Beschreibung: | Date Completed 02.10.2012 Date Revised 04.02.2008 published: Print Citation Status PubMed-not-MEDLINE |
| ISSN: | 1941-0492 |
| DOI: | 10.1109/3477.969497 |