Design and Implementation of PI and Fuzzy PID Supervisory Controllers for a Flexible Link Robot

被引：0
|
作者：
Pourebrahim, Mahshid [1 ]
Ayati, Moosa [2 ]
Mahjoob, Mohamad [2 ]
机构：
[1] Univ Tehran, Mechatron Engn, Kish Int Campus, Kish Isl, Iran
[2] Univ Tehran, Coll Engn, Sch Mech Engn, Tehran, Iran
来源：
PROCEEDINGS OF 2016 2ND INTERNATIONAL CONFERENCE ON CONTROL SCIENCE AND SYSTEMS ENGINEERING (ICCSSE) | 2016年
关键词：
fuzzy supervisory PID control; flexible link robot; PID controller; Ziegler; -; Nichols; MANIPULATOR;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, PID controllers are designed to enhance the trajectory tracking performance of a flexible link robot. Firstly, a PI controller is used where conventional Ziegler - Nichols method adjusts the controller parameters. In addition, Fuzzy PID controller is designed in which fuzzy rules are utilized on-line to tune the PID controller parameters based on the current value of error and its first time-derivative. Also, effects of several defuzzification methods on the closed-loop system are investigated in this paper. A flexible link robot is implemented and controllers are applied. Experimental results confirm the performance of the fuzzy PID controller.
引用
收藏
页码：270 / 275
页数：6
相关论文
共 50 条
  • [1] Fuzzy-PID controllers vs fuzzy-PI controllers
    Santos, M
    Dormido, S
    delaCruz, JM
    [J]. FUZZ-IEEE '96 - PROCEEDINGS OF THE FIFTH IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS 1-3, 1996, : 1598 - 1604
  • [2] Hardware Implementation of Fuzzy PID Controllers
    Taifu Li
    Jundi Xiong
    Rui Zhang
    Qifu Tan
    Ruizheng Xu
    [J]. Fuzzy Optimization and Decision Making, 2006, 5 (2) : 113 - 122
  • [3] Design of stabilizing PI and PID controllers
    Tan, Nusret
    Atherton, Derek P.
    [J]. INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE, 2006, 37 (08) : 543 - 554
  • [4] Design and implementation of fuzzy supervisory PI controllers using fuzzy c-means clustering combined with fuzzy gain scheduling for a binary distillation column
    Somsung, Kannawat
    Pratishthananda, Suvalai
    [J]. TENCON 2005 - 2005 IEEE REGION 10 CONFERENCE, VOLS 1-5, 2006, : 1146 - 1151
  • [5] Design of Fuzzy PI plus D and Fuzzy PID Controllers Using Gaussian Input Fuzzy Sets
    Ananthababu, P.
    Reddy, B. Amarendra
    Charan, K. Ram
    [J]. 2009 SECOND INTERNATIONAL CONFERENCE ON EMERGING TRENDS IN ENGINEERING AND TECHNOLOGY (ICETET 2009), 2009, : 1110 - +
  • [6] IMPLEMENTATION AND EXPERIMENTAL STUDIES OF FUZZY PID CONTROLLERS
    LIM, CM
    [J]. MECHATRONICS, 1994, 4 (05) : 471 - 480
  • [7] Implementation of a neural network tracking controller for a single flexible link: Comparison with PD and PID controllers
    Gutierrez, LB
    Lewis, FL
    Lowe, JA
    [J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 1998, 45 (02) : 307 - 318
  • [8] Implementation of a neural net tracking controller for a single flexible link: Comparison with PD and PID controllers
    Gutierrez, LB
    Lewis, FL
    [J]. PROCEEDINGS OF THE 1997 AMERICAN CONTROL CONFERENCE, VOLS 1-6, 1997, : 657 - 661
  • [9] A set of decentralized PID controllers for an n – link robot manipulator
    G LEENA
    G RAY
    [J]. Sadhana, 2012, 37 : 405 - 423
  • [10] Fuzzy controllers design for an agricultural robot
    Casanova, V
    Maier, V
    Albertos, P
    [J]. INTELLIGENT COMPONENTS AND INSTRUMENTS FOR CONTROL APPLICATIONS 1997 (SICICA'97), 1997, : 327 - 332
12345