Paper Title:
Adaptive Fuzzy Immune PID Control for Multi-Joint Robots
  Abstract

To improve the control precision of multi-joint robots, a adaptive fuzzy immune PID control method for multi-joint robots was presented based on the immune feedback mechanism and fuzzy control theory, and the parameters of PID controller was optimized with hybrid algorithm. First, least square algorithm was used for off-line optimization to form immune feedback control system. Then, genetic algorithm was used for on-line optimization to get the optimal performance parameters of immune PID control system and the optimal fuzzy proportional parameters. Simulation results of a 2-joint robot manipulator demonstrated that the control method designed gets tracking effect with high precision and speed.

  Info
Periodical
Edited by
Qi Luo
Pages
1914-1919
DOI
10.4028/www.scientific.net/AMM.58-60.1914
Citation
D. Q. Zhu, C. M. Cao, L. Sun, M. Zhu, "Adaptive Fuzzy Immune PID Control for Multi-Joint Robots", Applied Mechanics and Materials, Vols. 58-60, pp. 1914-1919, 2011
Online since
June 2011
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