Design and implementationof a fuzzy tuning discrete-time repetitive controller for a direct drive robot

직접구동형 로봇에 대한 퍼지 튜닝 이산시간 반복제어기의 설계 및 실시간 구현

In this paper, a fuzzy tuning method of a control gain in the discrete-time repetitive controller is proposed for precise tracking control of a system whose reference signal is repetitive. The control gain is modified by fuzzy rules which use the magnitude and the variation ofthe maximum output error in the previous repetitive period. The proposed method is applied to a direct drive 2-axis SCARA-type robot and, it is illustratedby computer simulations and real-time experimentation that better performance can be obtained that the fixed gain-based repetitive controller.