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

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...

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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: Li, W (VerfasserIn)
Weitere Verfasser: Chang, X G, Farrell, J, Wahl, F M
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
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520 |a 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 
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700 1 |a Farrell, J  |e verfasserin  |4 aut 
700 1 |a Wahl, F M  |e verfasserin  |4 aut 
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