{"title":"模糊PI+PD自整定控制器在四足机器人关节直流伺服电机中的应用","authors":"Haoran Lu, Tao Mei, Rui Wang, M.Q.-H. Meng","doi":"10.1109/ICIA.2004.1373425","DOIUrl":null,"url":null,"abstract":"This paper introduces a self-tuning fuzzy PI+PD algorithm for processing the DC servo system of a four leg robot. The control process is online, of which the fuzzy rules are generated analytically. The inference and defuzzification of this fuzzy control method are based on phase plane and centroid, thus it costs less processing time. Through self-tuning gain and self-optimizing in the control process, the servo system of the robot is robust, and its control performance is also good.","PeriodicalId":297178,"journal":{"name":"International Conference on Information Acquisition, 2004. Proceedings.","volume":"186 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2004-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":"{\"title\":\"Application of self-tuning fuzzy PI+PD controller in joint DC servo motors of a four-leg robot\",\"authors\":\"Haoran Lu, Tao Mei, Rui Wang, M.Q.-H. Meng\",\"doi\":\"10.1109/ICIA.2004.1373425\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper introduces a self-tuning fuzzy PI+PD algorithm for processing the DC servo system of a four leg robot. The control process is online, of which the fuzzy rules are generated analytically. The inference and defuzzification of this fuzzy control method are based on phase plane and centroid, thus it costs less processing time. Through self-tuning gain and self-optimizing in the control process, the servo system of the robot is robust, and its control performance is also good.\",\"PeriodicalId\":297178,\"journal\":{\"name\":\"International Conference on Information Acquisition, 2004. Proceedings.\",\"volume\":\"186 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2004-06-21\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"6\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"International Conference on Information Acquisition, 2004. Proceedings.\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICIA.2004.1373425\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Conference on Information Acquisition, 2004. Proceedings.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICIA.2004.1373425","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Application of self-tuning fuzzy PI+PD controller in joint DC servo motors of a four-leg robot
This paper introduces a self-tuning fuzzy PI+PD algorithm for processing the DC servo system of a four leg robot. The control process is online, of which the fuzzy rules are generated analytically. The inference and defuzzification of this fuzzy control method are based on phase plane and centroid, thus it costs less processing time. Through self-tuning gain and self-optimizing in the control process, the servo system of the robot is robust, and its control performance is also good.
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