Design and Simulation of Fuzzy Self-Tuning PID Controller for Two-Link Robot

Abstract:

Article Preview

In this paper, fuzzy self-tuning controller is introduced first. The fuzzy model is built according to the experience of PID parameter tuning with fuzzy set theory. Parameter tuning is achieved by use of fuzzy ratiocination and decision according to actual response, which is applied for control towards robot. Mathematical model of two-link robot has been built as well as its geometric and dynamical equations through coordinate transformation and matrix operation. Finally, fuzzy PD controller with self-tuning method is applied to realize control towards robots. Simulation in Matlab has been carried out whose result shows that the control method proposed in this paper has better performance than the traditional ones.

Info:

Periodical:

Edited by:

Wen Jin

Pages:

1133-1137

DOI:

10.4028/www.scientific.net/AMM.152-154.1133

Citation:

J. H. Jiang et al., "Design and Simulation of Fuzzy Self-Tuning PID Controller for Two-Link Robot", Applied Mechanics and Materials, Vols. 152-154, pp. 1133-1137, 2012

Online since:

January 2012

Export:

Price:

$35.00

[1] S.Y. Li: Fuzzy Control, Neurocontrol and Intelligent Cybernetic (Harbing Institute of Technology Publications, China 1998).

[2] C. Xie: Robot Technology and Applications (China Machine Press, China 2005).

[3] J. Gao, X.H. Huang: Motion Control of Mobile Robots Based on Fuzzy-PID, Control Engineering of China. 2004, 11(6).

[4] F. Feng, L.P. Zhang and B.Y. Zhang: Example of 4R Manipulator Eimulation in Matlab, Journal of Henan University of Science & Technology(Natural Science). 2008, 29(3).

[5] M.F. Algreer, R.M. Kuraz: Design Fuzzy Self Tuning of PID Controller for Chopper-Fed DC Motor, Al-Rafidain Engineering. 2008, 16(2).

[6] Michall Petrov, Ivan Ganchev: Design Aspects of Fuzzy PID Control, International conference on soft computing, 9-12, 1999, pp.277-282.

[7] Keven M. Passino and Stephen Yurkovich, Fuzzy Control, Addison Wesley longnan, Inc., (1998).

In order to see related information, you need to Login.