대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
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유전 퍼지 알고리즘 기반의 추종 제어를 위한 비선형 제어기 설계

Design of Nonlinear Controller for Tracking Control based on Genetic Fuzzy algorithm

  • Kong, Jung-Shik (Industrial Automation Engineering, Inha University) ;
  • Ahn, Sang-Min (Department of Electrical Engineering, Inha University) ;
  • Lee, Bo-Hee (School of Electrical Engineering, Semyung University) ;
  • Kim, Jin-Geol (School of Electrical Engineering, Inha University) ;
  • Huh, Uk-Youl (School of Electrical Engineering, Inha University)
  • 발행 : 2005.07.18
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초록

This paper presents design of nonlinear controller based on genetic-fuzzy algorithm. Motor system that is included at a humanoid robot has many nonlinear parameters such as saturation, backlash and so on. So, it is hard to control a humanoid robot because of these nonlinearities. Also, tracking following ability is also reduced by these nonlinearities. In this paper, fuzzy PID controller is proposed for reducing efficiency by saturation. At that time, genetic algorithm is supplied at making fuzzy rule in order to make optimal fuzzy PID controller. Also, disturbance observer is used to reduce the efficiency of backlash. All these processes are verified by simulation and experiment in the real humanoid robot.

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