지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2015.10
- 수록면
- 186 - 191 (6page)
이용수
초록· 키워드
오류제보하기
Nowadays, flexible joint robots (FJR) manipulators are widely used at industry; however, these robots have several problems. These problems are in the joint and with links. Another problem is their complex dynamics that make control of this robot have some challenges. Non-linearity, interaction between loops and flexibility in the joint cause this problem. The present paper has focused to improve the tracking performance of these robots. Therefore, at the first step, we need to use physical relations of system and determine a model for the FJR. In this paper, the Fuzzy Logic Self- Tuning PID (FLST-PID) controller will be introduced to keep the rotating angle of the link of FJR at desired position. In the classic PID forms, the parameter values of the controller i.e. K<SUB>p</SUB> , K<SUB>i </SUB>, K<SUB>d</SUB> are calculated in many various methods like Ziegler-Nichols and are constant. In FLST-PID, the parameter values computed by intelligent methods like fuzzy logic and they vary during the controlling process.
For demonstrating the ability of the proposed controller, some classic controller like PID, LQR and State Feedback will be designed for FJR and the response of the system with these controllers will be compared. Moreover, by considering some uncertainty on systems parameters, the comparison will be performed once again. Simulation results confirm the claims and show that the proposed controller has the best response for the system especially in uncertainty conditions.
For demonstrating the ability of the proposed controller, some classic controller like PID, LQR and State Feedback will be designed for FJR and the response of the system with these controllers will be compared. Moreover, by considering some uncertainty on systems parameters, the comparison will be performed once again. Simulation results confirm the claims and show that the proposed controller has the best response for the system especially in uncertainty conditions.
목차
Abstract
1. INTRODUCTION
2. System modeling
3. Design State Feedback, LQR and PID for FJR
4. Self-tuning PID controller base on fuzzy logic
5. Effect of uncertainty in system response
6. Conclusion
7. References
참고문헌 (0)
참고문헌 신청함께 읽어보면 좋을 논문
논문 유사도에 따라 DBpia 가 추천하는 논문입니다. 함께 보면 좋을 연관 논문을 확인해보세요!
-
Fuzzy 논리를 이용한 로봇 관절용 BLDC 전동기의 자기 동조 PID 제어기 설계
정보 및 제어 논문집
2017 .04
-
Design of Fuzzy-PID Controller for Path Tracking of Mobile Robot with Differential Drive
INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGENT SYSTEMS
2018 .09
-
A Fuzzy Self-Tuning PID Controller with a Derivative Filter for Power Control in Induction Heating Systems
JOURNAL OF POWER ELECTRONICS
2017 .11
-
퍼지게인 스케쥴링 PID 제어이론을 이용한 동적 위치 유지 제어기법에 관한 연구
대한조선학회 논문집
2017 .04
-
Two- and Three-Input Fuzzy PID Controller Structure of Takagi-Sugeno Type
제어로봇시스템학회 국제학술대회 논문집
2019 .10
-
Design of TLBO-based Optimal Fuzzy PID Controller for Magnetic Levitation System
전기학회논문지
2017 .04
-
A Practical Method to Improve the Tracking Performance of PID control
제어로봇시스템학회 국제학술대회 논문집
2022 .11
-
2 자유도 지적 PID 제어기의 파라미터 설정
전기학회논문지
2018 .09
-
Fuzzy PID Control by Grouping of Membership Functions of Fuzzy Antecedent Variables with Neutrosophic Set Approach and 3-D Position Tracking Control of a Robot Manipulator
Journal of Electrical Engineering & Technology
2018 .03
-
Design of Fuzzy Logic Tuned PID Controller for Electric Vehicle based on IPMSM Using Flux-weakening
Journal of Electrical Engineering & Technology
2018 .01
-
적응 제어 알고리즘을 이용한 자동차 능동 현가장치 제어 특성
한국소음진동공학회논문집
2024 .10
-
강화 학습을 이용한 PID 제어기 게인 튜닝 알고리즘
제어로봇시스템학회 국내학술대회 논문집
2021 .06
-
An Enhanced Voltage-Shifting method with Fuzzy PID controller to Achieve Accurate Power Sharing and Voltage Restoration in DC Microgrids
전력전자학회 학술대회 논문집
2021 .07
-
Performances Evaluation and Comparison of PID Controller and Fuzzy Logic Controller for Process Liquid Level Control
제어로봇시스템학회 국제학술대회 논문집
2015 .10
-
강인 로봇제어를 위한 적분 PID 보상기
유공압건설기계학회 학술대회논문집
2017 .11
-
Designing a Neuro-Fuzzy PID Controller Based on Smith Predictor for Heating System
제어로봇시스템학회 국제학술대회 논문집
2017 .10
-
RCGA based PID controller with feedforward control for a heat exchanger system
Journal of Advanced Marine Engineering and Technology (JAMET)
2017 .12
-
적응 PID 제어기를 이용한 이동로봇의 군집제어
한국정보통신학회논문지
2015 .11
-
Design of Honing Coolant Temperature Control System Based on Fuzzy Self-tuning PID
한국정보전자통신기술학회 논문지
2018 .04
-
능동형 에너지 융합기술을 위한 열 교환 시스템의 자기 적응 지능형 제어기 설계에 관한 연구
한국지능시스템학회 논문지
2018 .12
이 논문의 저자 정보
최근 본 자료
댓글(0)
0
UCI(KEPA) : I410-ECN-0101-2016-569-001910833