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一种控制机械手的自调节模糊逻辑控制器
引用本文:谭群华,李伟,王永强,孙增圻.一种控制机械手的自调节模糊逻辑控制器[J].自动化学报,1997,23(1):85-89.
作者姓名:谭群华  李伟  王永强  孙增圻
作者单位:1.清华大学计算机科学与技术系,北京
基金项目:国家自然科学基金,国家教委优秀教师基金
摘    要:介绍了一种机械手的模糊逻辑控制的新方法.它能根据系统的前期响应自动修改 误差变化率的隶属函数来获得理想的控制特性.在研究隶属函数对控制特性影响的基础上, 首先确定一族参数化的隶属函数.然后,用Nelder-Mead单纯形算法优化模糊逻辑控制器. 最后,用该模糊控制器控制一个具有非线性动力学特征的两自由度机械手,验证了所提方案 的有效性和鲁棒性.

关 键 词:模糊控制    机器人学    优化技术    非线性控制
收稿时间:1994-10-13

A Self-Tuning Fuzzy Controller for Manipulators
Tan Qunhua,Li Wei,Wang Yongqiang,Sun Zengqi.A Self-Tuning Fuzzy Controller for Manipulators[J].Acta Automatica Sinica,1997,23(1):85-89.
Authors:Tan Qunhua  Li Wei  Wang Yongqiang  Sun Zengqi
Affiliation:1.Dept.of Computer Science&Technology,Tsinghua Univ.Beijing
Abstract:This paper presents a new approach to automatic tuning of fuzzy logic controller for manipulators, which modifies the shape of membership functions automatically according to previous responses to achieve a desired control performance. On the basis of defining a set of cubic splines as membership functions regarding change in error j(t), the optimal membership functions are found by the Nelder and Mead's simplex algorithm. The proposed control scheme consists of a traditional fuzzy logic controller and a conventional derivative controller. In order to demonstrate the effectiveness and the robustness of the control scheme, we report a number of simulation results of a two link manipulator in the presence of load and friction changes.
Keywords:Fuzzy logic control  robotics  optimum technique  nonlinear control    
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