Adaptive Fuzzy Immune PID Control for Multi-Joint Robots
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.
D. Q. Zhu et al., "Adaptive Fuzzy Immune PID Control for Multi-Joint Robots", Applied Mechanics and Materials, Vols. 58-60, pp. 1914-1919, 2011