대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1993년도 정기총회 및 추계학술대회 논문집 학회본부
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- Pages.299-303
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- 1993
Rhino XR-2 로보트의 퍼지 혼성 제어
Fuzzy Hybrid Control of Rhino XR-2 Robot
- Byun, Dae-Yeal (Dept, of E.E. Sognag Univ.) ;
- Sung, Hong-Suk (Dept, of E.E. Sognag Univ.) ;
- Lee, Kwae-Hi (Dept, of E.E. Sognag Univ.)
- 발행 : 1993.11.26
초록
There can be two methods in control systems: one is to use a linear controller, the other is to use a nonlinear controller. The PID controller and the fuzzy controller can be said to belong the linear and the nonlinear controller respectively. In this paper, a new hybrid controller which is consist of the linear PID controller of which the gain is tuned and the nonlinear self tuning fuzzy controller is proposed. In the PID controller, an algorithm which parameterizes the proportional, the intergral, and the derivative gain as a single parameter is used to improve the performance of the PID controller. In the self tuning fuzzy controller, an algorithm which changes the shape of the triangle membership function and changes the scaling factor which is multiplied to the error and the error change. The evaluation of the performance of the suggested algorithm is carried on by the simulation for the Rhino XH-2 robot manipulator with 5 links revolute joints.
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