機械手臂之加強型自組織模糊控制器

Enhanced Self-Organizing Fuzzy COntroller for Robotic Manipulator

蔡靜誼(Ching-Yi Tsai)

指導教授 ： 林震

國立臺北科技大學/機電學院/機電整合研究所/碩士(2008年)

摘要

機械手臂屬於多輸入多輸出非線性系統,其精確的數學模式難以建立,以模式為基礎的控制器來控制機械手臂是不易實現,因此本研究發展出兩種不需知道受控本體數學模式的智慧型控制器:(1)自組織模糊控制器(2)自組織模糊邏輯與徑向基底類神經網路控制器,以控制二軸與三軸機械手臂系統,分別評估其系統的控制性能。

關鍵字

自組織模糊控制器 ； 徑向基底函數類神經網路 ； 穩定性分析

並列摘要

Robots are multiple-input multiple-output (MIMO) nonlinear systems.It is difficult to identify precise mathematical models for these,making a model-based controller for evaluation impractical. Therefore,this study has developed two model-free intelligent controllers: (1) a self-organizing fuzzy controller,and (2) a self-organizing fuzzy logic and radial basis function neural-network controller.These would be used to control individually a 2-link and a 3-link robotic manipulator to determine control performance.Both intelligent controllers have good control performances in trajectory tracking for robotic motion control,as shown in simulation results.Moreover, the state-space approach was employed in evaluating the stability and robustness of the proposed intelligent controllers.
Simulation results have also confirmed that these
intelligent controllers have excellent stability and robustness.

並列關鍵字

self-organizing fuzzy controller ； radial basis function neural-network ； stability analysis

參考文獻

T. F. Bastos-Filho,“An adaptive dynamic controller for autonomous mobile robot trajectory tracking,” Control Engineering Practice Article in Press, March 2008

[2] S. Alavandar and M. J. Nigam,“Fuzzy PD+I control of a six DOF robot manipulator,” Industrial Robot: An International Journal , Vol.35, pp. 125 - 132, 2008

[3] J. Lin ,“Jierarchical Fuzzy logic Controller for a Flexible link Robot

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[5] A. A. Eftekharian and H. Sayyaadi, “Design of mixed fuzzy-GA controller for SCARA type robot,” IEEE International Conference on Intelligent Robots and Systems, art. no. 4058706, pp. 2173-2178, 2006