Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Fuzzy logic control of a planar parallel manipulator using multi learning algorithm

다중 학습 알고리듬을 이용한 평면형 병렬 매니퓰레이터의 Fuzzy 논리 제어

  • Song, Nak-Yun (Dept.of Control Instrumentation Engineering, Kwangwoon University) ;
  • Cho, Whang (Dept.of Control Instrumentation Engineering, Kwangwoon University)
  • 송낙윤 (광운대학교 제어계측공학과) ;
  • 조황 (광운대학교 제어계측공학과 및 신기술연구소)
  • Published : 1999.11.01
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Abstract

A study on the improvement of tracking performance of a 3 DOF planar parallel manipulator is performed. A class of adaptive tracking control sheme is designed using self tuning adaptive fuzzy logic control theory. This control sheme is composed of three classical PD controller and a multi learning type self tuning adaptive fuzzy logic controller set. PD controller is tuned roughly by manual setting a priori and fuzzy logic controller is tuned precisely by the gradient descent method for a global solution during run-time, so the proposed control scheme is tuned more rapidly and precisely than the single learning type self tuning adaptive fuzzy logic control sheme for a local solution. The control performance of the proposed algorithm is verified through experiments.

Keywords

References

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