焊缝跟踪的变论域自适应模糊控制

针对单纯的模糊控制器在焊接机器人的焊缝跟踪中的控制精度欠佳、自适应性不强等问题。设计了一种论域可调整的自适应模糊控制器，利用控制偏差和偏差的变化作为输入量，通过偏差和偏差变化率来自动调整变量的论域，从而提高控制精度。通过系统仿真。得到了很好的控制效果，使控制精度差和自适应能力不强等问题都得到了解决。

Adaptive fuzzy controller based on variable universe for seam tracking

Aiming at the problem that the precision and the self-adaption are not very well for the pure fuzzy controller in seam tracking of the welding robot, an adaptive fuzzy controller that the universe can be adjusted automatically were designed in this paper. The controller uses the windage and the speed of the windage variation as inputs, and adjusts the universe through the value of windage and windage variation. It can improve the precision and robustness of fuzzy controller. A satisfied effect are gotten by simulation.